PLUS+1® SC Controller Family Technical Information

PLUS+1® SC Controller Family Technical Information
MAKING MODERN LIVING POSSIBLE
Technical Information
PLUS+1® Microcontrollers
SC Controller Family
powersolutions.danfoss.com
Technical Information
PLUS+1® SC Controller Family
Revision history
Table of revisions
2
Date
Changed
Rev
May 2014
Converted to Danfoss layout-DITA CMS; Various updates
FA
September 2013
Added LED information and secondary controller information
EA
September 2013
Updated layout
DA
March 2013
SC050-020 input condition
CA
November 2012
Various updates
BA
July 2012
First edition
AA
L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Contents
SC Controller literature references
Technical Information (TI)............................................................................................................................................................. 4
Data Sheet (DS)................................................................................................................................................................................. 4
API Specifications (API)...................................................................................................................................................................4
PLUS+1® GUIDE Software User Manual.................................................................................................................................... 4
Latest version of technical literature......................................................................................................................................... 4
User liability and safety statements
OEM responsibility........................................................................................................................................................................... 5
Overview
PLUS+1® Mobile Machine Modules........................................................................................................................................... 6
SC Controller Family........................................................................................................................................................................ 6
Inputs/Outputs Types and Specifications
Inputs
Outputs
Input Types......................................................................................................................................................................................... 8
Digital/Analog (DIN/AIN), A/D Refresh Rates......................................................................................................................... 8
Digital/Analog/Frequency (DIN/AIN/FreqIN)......................................................................................................................... 9
Digital/Analog/Resistance/4-20 mA Current (DIN/AIN/ResIN/CrntIN)....................................................................... 10
Output types....................................................................................................................................................................................12
Digital (DOUT)................................................................................................................................................................................. 12
Pulse Width Modulated (PWMOUT/DOUT).......................................................................................................................... 13
LEDs.....................................................................................................................................................................................................14
Controller Area Network specifications
CAN (Controller Area Network).................................................................................................................................................15
CAN system design.................................................................................................................................................................. 15
Terminating resistor.................................................................................................................................................................15
CAN Bus installation.................................................................................................................................................................15
Expansion module CAN Bus loading................................................................................................................................. 15
Internal Micro-Micro Uart...................................................................................................................................................... 16
Product ratings
Power..................................................................................................................................................................................................17
Module supply voltage/maximum current ratings...................................................................................................... 17
Lower power mode..................................................................................................................................................................17
Sensor power supply ratings................................................................................................................................................18
EEPROM Write/Erase ratings...................................................................................................................................................... 18
Environmental testing criteria...................................................................................................................................................19
General product ratings...............................................................................................................................................................19
SC Controller Family environmental testing criteria.........................................................................................................19
Modules housing............................................................................................................................................................................20
Product installation and start-up
General comments........................................................................................................................................................................ 21
Mating connectors................................................................................................................................................................... 21
Product installation....................................................................................................................................................................... 21
Mounting..................................................................................................................................................................................... 21
Machine diagnostic connector............................................................................................................................................ 22
Grounding................................................................................................................................................................................... 22
Hot plugging.............................................................................................................................................................................. 22
Recommended machine wiring guidelines....................................................................................................................22
Electronic components welding guidelines................................................................................................................... 23
PLUS+1® USB/CAN Gateway.................................................................................................................................................23
L1206334 • Rev FA • May 2014
3
Technical Information
PLUS+1® SC Controller Family
SC Controller literature references
Reference literature
Literature title
Literature type
Literature number
SC Controller Family PLUS+1® Mobile Machine
Microcontrollers
Technical Information
L1026334
SC024-010 and SC024-012 PLUS+1 Mobile Machine Controller Data Sheet
L1109626
SC024-020 and SC024-022 PLUS+1 Mobile Machine Controller Data Sheet
L1109925
SC050-020 and SC024-022 PLUS+1 Mobile Machine Controller Data Sheet
L1109598
PLUS+1 GUIDE Software User Manual
10100824
Operation Manual
Technical Information (TI)
A TI is comprehensive information for engineering and service personnel to reference.
Data Sheet (DS)
A DS is summarized information and parameters that are unique to a specific model.
API Specifications (API)
An API is specifications for programming variable settings.
API specifications are the definitive source of information regarding pin characteristics.
PLUS+1® GUIDE Software User Manual
This user operation manual (OM) details information regarding the PLUS+1 GUIDE software tool set that
is used to build PLUS+1 applications. This OM covers the following broad topics:
• How to use the GUIDE graphical application development tool to create machine applications
•
•
•
•
•
How to configure module input and output parameters
How to configure module input and output parameters
How to download GUIDE applications to target PLUS+1 hardware modules
How to upload and download tuning parameters
How to use the PLUS+1 service tool
Latest version of technical literature
Up to date technical literature is available at: www.powersolutions.danfoss.com
4
L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
User liability and safety statements
OEM responsibility
The OEM of a machine or vehicle in which Danfoss products are installed has the full responsibility for all
consequences that might occur. Danfoss has no responsibility for any consequences, direct or indirect,
caused by failures or malfunctions.
• Danfoss has no responsibility for any accidents caused by incorrectly mounted or maintained
equipment.
• Danfoss does not assume any responsibility for Danfoss products being incorrectly applied or the
system being programmed in a manner that jeopardizes safety.
• All safety critical systems shall include an emergency stop to switch off the main supply voltage for
the outputs of the electronic control system. All safety critical components shall be installed in such a
way that the main supply voltage can be switched off at any time. The emergency stop must be easily
accessible to the operator.
L1206334 • Rev FA • May 2014
5
Technical Information
PLUS+1® SC Controller Family
Overview
PLUS+1® Mobile Machine Modules
PLUS+1® Mobile Machine Modules are designed to provide flexible, expandable, powerful and cost
effective total machine management system displays for a wide variety of vehicle applications.
PLUS+1 controller products utilize modular designs wherever possible. This modularity extends to
product housings, connectors and control circuitry.
SC Controller Family
24 and 50 Pin SC Controllers
P200147
The SC Controller Family comes in the same sized blue housing.
These modules communicate with one another and other intelligent systems over a machine Controller
Area Network (CAN) data bus. PLUS+1® hardware products are designed to be equally effective in a
distributed CAN system, with intelligence in every node, or as stand-alone control for smaller machine
systems. PLUS+1 systems are incrementally expandable: additional modules can be easily added to the
machine CAN bus to increase system capabilities or computational power.
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L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Inputs/Outputs Types and Specifications
PLUS+1® modules have input or output pins that support multiple functions. Pins that support multiple
input or output types are user-configurable using PLUS+1 GUIDE software. Refer to product data sheets
for the input/output (I/O) content of individual modules.
L1206334 • Rev FA • May 2014
7
Technical Information
PLUS+1® SC Controller Family
Inputs
Input Types
•
•
•
•
•
•
•
Digital or Analog (DIN/AIN)
Analog Input Offset
A/D Refresh Rate
Digital/Analog/Frequency (DIN/AIN/FreqIN)
Digital/Analog/Resistance/4-20 mA Current (DIN/AIN/ResIN/CrntIN)
Digital/Analog/1.6 Vdc Sensor Power (DIN/AIN/SnsrPwr1.6Vdc)
Digital/Analog/3.6 Vdc Sensor Power (DIN/AIN/SnsrPwr3.6Vdc)
Each PLUS+1® module input pin supports one of the above functional types. For pins with multiple
functions, input configurations are user programmable using PLUS+1 GUIDE templates.
Digital/Analog (DIN/AIN), A/D Refresh Rates
Multifunction pins that are configured to be DIN are subject to the same update rates as the analog input
function for that pin. Debounce is not used, as hysteresis is built into the function. The time to recognize
a transition is dependent on the timing of the switch activation and the sample rate.
General
Description
Comment
Response to input below minimum voltage
Non-damaging, non-latching; reading saturates to the low limit.
Response to input above maximum voltage
Non-damaging, non-latching; reading saturates to the high limit.
Response to input open
Pin configuration dependent: No pull up/ no pull down = floating
Pull up to 5 Vdc = 5 Vdc
Pull down = 0 Vdc
Pull up/ pull down = 2.5 Vdc
Voltage working ranges
Programmable (see specific data sheets for ranges).
Specifications
Description
Units
Minimum
Maximum
Comment
Allowed voltage at pin
Vdc
0
36
——
Maximum discernable voltage (high range)
Vdc
34.10
36.5
35.3 Vdc is typical.
Minimum discernable voltage (high range)
mV
0
130
——
Maximum discernable voltage (middle range
Vdc
5.13
5.38
5.26 Vdc is typical.
Minimum discernable voltage (low range)
mV
0
20
——
Precision (high range)
mV
——
9
——
Worst case error (high range)
Vdc
——
1.16
——
Precision (middle range)
mV
——
1.3
——
Worst case error (middle range)
mV
——
120
——
Input impedance (pulled up to 5 Vdc or ground, middle range)
kΩ
13.9
14.3
——
Input impedance (pulled up to 2.5 Vdc middle range)
kΩ
7.2
7.4
——
Input impedance (no pull ups, middle range)
kΩ
230
236
——
Input impedance (pulled up to 5 Vdc or ground, high range)
kΩ
13.0
13.4
——
Input impedance (pulled up to 2.5 Vdc high range)
kΩ
6.9
7.1
——
Input impedance (no pull ups, high range)
kΩ
108
112
——
8
L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Inputs
A/D refresh rates for SC Controllers
SC Controller
A/D refresh rate
SC024-010/012
All: 1.0 ms
SC024-020/022
All: 1.0 ms
SC050-020/022
All: 1.0 ms
Digital/Analog/Frequency (DIN/AIN/FreqIN)
The characteristics of Digital/Analog/Frequency pins are PLUS+1® GUIDE software controlled. The input
can be digital, analog or frequency. Inputs can be pulled to 5 Vdc, pulled to ground, pulled to 2.5 Vdc, or
no pull-up/pull-down.
General
Description
Comment
Response to input below minimum voltage Non-damaging, non-latching; reading saturates to the low limit.
Response to input above maximum voltage Non-damaging, non-latching; reading saturates to the high limit.
Expected measurement
Frequency (Hz)
Period (0.1 µsec)
Channel to channel phase shift (paired inputs . . . ) (0.1 ms).
PWM duty cycle (0.01%)—Duty cycle measurement only valid up to 5 kHz (FreqIN).
Edge count.
Quadrature count (paired inputs driven from a quadrature encoder).
Pull up/pull down configuration
No pull down/ pull up is standard with pull up or pull down programmable; failure modes are detectable.
Specifications
Description
Units
Minimum
Maximum
Allowed voltage at pin
Vdc
0
36
Frequency range
Hz
0
10,000
In steps of 1 Hz.
Frequency input when used as quad count or phase shift
Hz
0
5000
In steps of 1 Hz.
Maximum discernable voltage (high range)
Vdc
34.1
36.5
35.3 Vdc is typical.
Minimum discernable voltage (high range)
mV
0
130
Maximum discernable voltage (middle range)
Vdc
5.13
5.38
Minimum discernable voltage (middle range)
mV
0
20
Maximum discernable voltage (low range)
Vdc
0.341
0.395
Minimum discernable voltage (low range)
mV
0
12.9
Precision (high range)
mV
––
9
Worst case error (high range)
Vdc
––
1.16
Precision (middle range)
mV
––
1.3
Worst case error (middle range)
mV
––
120
Precision (low range)
µV
––
90
Worst case error (low range)
mV
––
27
Input impedance (pulled to 5 Vdc or ground, low range)
kΩ
13.9
14.3
Input impedance (pulled to 2.5 Vdc, low range)
kΩ
7.2
7.4
Input impedance (no pull ups, low range)
kΩ
230
236
L1206334 • Rev FA • May 2014
Comment
5.26 Vdc is typical.
0.368 Vdc is typical.
9
Technical Information
PLUS+1® SC Controller Family
Inputs
Specifications (continued)
Description
Units
Minimum
Maximum
Input impedance (pulled to 5 Vdc or ground,
middle range)
kΩ
13.9
14.3
Input impedance (pulled to 2.5 Vdc middle range)
kΩ
7.2
7.4
Input impedance (no pull ups, middle range)
kΩ
230
236
Input impedance (pulled to 5 Vdc or ground, high range)
kΩ
13
13.4
Input impedance (pulled to 2.5 Vdc high range)
kΩ
6.9
7.1
Input impedance (no pull ups, high range)
kΩ
108
112
Comment
This table shows the rising and falling thresholds when the input is used as a frequency input.
Specifications
Description
Units
Minimum
Maximum
Comment
Rising voltage threshold
(high range)
Vdc
11.83
26.55
Voltage required for frequency input to read high.
Falling voltage threshold
(high range)
Vdc
5.61
18.89
Voltage required for frequency input to read low.
Rising voltage threshold
(middle range)
Vdc
1.78
3.92
Voltage required for frequency input to read high.
Falling voltage threshold
(middle range)
Vdc
0.84
2.79
Voltage required for frequency input to read low.
Rising voltage threshold
(low range)
Vdc
0.11
0.30
Voltage required for frequency input to read high.
Falling voltage threshold
(low range)
Vdc
0.04
0.22
Voltage required for frequency input to read low.
Potential for IX modules to not go online. If voltage is applied to an IX module input pin prior to the
module being powered on, there is a possibility that the module CPU will not power up. The module is
not damaged and will power up and operate normally once power is removed from the input pins. It is
recommended that either the IX module's 5 Vdc sensor power be used to power sensors or that power is
removed from the input pins until the module is powered up.
If the frequency goes to zero, the data will not decay over time, it will be updated once a new pulse is
seen, or times out. It is possible to monitor the count of pulses to know when the frequency reading is
updated.
Digital/Analog/Resistance/4-20 mA Current (DIN/AIN/ResIN/CrntIN)
When a SC Controller input pin is configured as a resistance/rheostat/temp sensor input, the device will
provide up to 3.76 mA current to an external load (RL) which then can be measured. The equation for
relating AD counts to a given load is: AD counts = (30996*RL) / (RL + 1322). This calculation is solved
internally and the ohms value is available for the programmer. The following Rheostat inputs chart shows
the relationship between AD counts and load resistance in ohms.
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L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Inputs
Rheostat inputs chart
30000
AD Counts
25000
20000
15000
10000
5000
0
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
10000
Load Resistance (Ω)
P200 083
Specifications
Description
Units
Minimum
Maximum
Allowed voltage at pin
Vdc
0
36
Measured resistance
Ω
0
10,000
Minimum discernable current
mA
0
0.1
Maximum discernable current
mA
25.3
27
Precision
µA
6
Worst case error
µA
868
Input impedance
Ω
Maximum over-current protection time
ms
Recover time after over-current protection
s
5.4
Maximum discernable voltage (high range)
Vdc
25.3
Minimum discernable voltage (high range)
mV
0
Precision (high range)
mV
9
Worst case error (high range)
Vdc
1.16
Maximum discernable voltage (middle range)
Vdc
5.13
5.38
Minimum discernable voltage (middle range)
mV
0
20
Precision (middle range)
mV
1.3
Worst case error
mV
120
Input impedance (pulled to 5 Vdc or ground high range)
KΩ
13.0
13.4
Input impedance (pulled to 2.5 Vdc high range)
KΩ
6.9
7.1
Input impedance (no pull ups high range)
KΩ
108
112
Input impedance (pulled to 5 Vdc or ground middle range)
KΩ
13.9
14.3
Input impedance (pulled to 2.5 Vdc middle range)
KΩ
7.2
7.4
Input impedance (no pull ups middle range)
KΩ
230
236
L1206334 • Rev FA • May 2014
198.6
Comment
Over the full temperature range
-40°C to 85°C (-40°F to 185°F)
202.6
250
130
Over the full temperature range
-40°C to 85°C (-40°F to 185°F)
Over the full temperature range
-40°C to 85°C (-40°F to 185°F)
11
Technical Information
PLUS+1® SC Controller Family
Outputs
Output types
•
•
Digital (DOUT)
Pulse Width Modulated (PWM/DOUT/PVGOUT)
Output pins available on SC Controller Family
SC Controller
DOUT (3 A)
PWMOUT/DOUT/(3 A)
SC024-010
4
SC024-020
8
SC050-020
6
8
PLUS+1® control modules feature user-configurable output pin parameters. Output pin parameters
are configured using PLUS+1 GUIDE templates.
Refer to module data sheets for maximum output current ratings of individual modules. The total
output current for any PLUS+1 module must not exceed the maximum allowable current specified in
the module data sheet.
W
Warning
Unintended movement of the machine or mechanism may cause injury to the technician or
bystanders. The module will be powered up if battery voltage is applied to the module's output pin.
To protect against unintended movement, secure the machine.
C
Caution
Warranty will be voided if module is damaged by significant current driven back through an output
pin.
Digital (DOUT)
Digital outputs can source up to 3 A.
General
Description
Comment
Configuration
Sourcing only.
Type
Linear switching.
Short circuit to ground protection
Non-damage, current/thermal limit with status indication; automatic latch off /resume.
Open circuit detection
Fault indication provided. The GUIDE Pin Status requires a load of 0.22 A to be
connected or an open fault will be declared.
Parallel operation
Digital outputs from the same module are capable of being connected together such
that the net current rating is the sum of the individual ratings; timing is resolved by the
operating system; diagnostic capability is maintained.
Shut off
Processor control with hardware WatchDog override.
Specifications
Description
Units
Minimum
Maximum
Comment
Output voltage, energized state
Vdc
Vbatt-1.0
Vbatt
Over all load conditions.
Output voltage, off state
Vdc
0
0.1
At Rload=200 Ω
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L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Outputs
Specifications (continued)
Description
Units
Minimum
Maximum
Comment
Output current range for a status bit to read
OK
A
0.22
3
See note regarding pair, above.
Do not connect a digital output to battery+ (back drive) without a series diode.
For each digital output there are two switches in series. One switch is controlled and monitored by the
secondary controller, and one is controlled and monitored by the primary controller. The secondary
controller can monitor the condition of the redundant switch under its control with a digital voltage
feedback signal. Any output can be disconnected from its supply voltage at any time by the secondary
controller with this redundant switch. When the redundant switch is disabled it must remain disabled by
the kernel for 250 milliseconds before the secondary controller's application is allowed to re-enable the
redundant switch. When the redundant switch controlled by the secondary controller is enabled then the
digital outputs can be enabled/disabled as commanded by the primary controller. The primary controller
can monitor the condition of its switch with a digital voltage feedback signal.
Pulse Width Modulated (PWMOUT/DOUT)
All PLUS+1® module proportional outputs are Pulse Width Modulated (PWM). PWM frequency is software
adjustable using PLUS+1 GUIDE. A low frequency dither may also be added with software to some
outputs (see individual module API specifications for PWM outputs that support dither). There are two
modes of PWM operation: open loop and closed loop (current control).
In open loop mode, current can be sourced or sunk (all modules are limited to 8 amps sinking), but the
output is a PWM duty cycle. Current feedback may be monitored in open loop mode, but the output is a
constant voltage, not a constant current. PVG valves may be driven with open loop PWM.
In closed loop mode, current is sourced and a constant current is maintained by the module's operating
system using internal current feedback. Load impedance must not exceed 65 ohms.
In closed loop mode, the maximum current is limited by measuring the feedback current. There is no
thermal protection. If the maximum current is exceeded, the controller kernel will shut down the output
and latch it. The kernel also limits how quickly the output can be repowered (250 ms). The output cannot
be reset until the command goes to 0 or False (if configured as a digital output).
Refer to individual module data sheets for the maximum allowable output current for each PLUS+1
module.
General
Description
Comment
Configuration
Sourcing or sinking.
Type (Linear vs. PWM)
PWM
Operating modes
Programmable: closed loop current or open loop voltage (duty cycle).
Dual coil PCPs
Compensated for induced currents in a non-driven coil (closed loop mode).
Short circuit to ground
Output fully protected against damage and fault detected.
Mode selection (current or voltage) and full scale current
ranges
Programmable.
Do not connect a digital output to battery+ (back drive) without a series diode.
PLUS+1 PWM output circuits are not designed to be used as inputs. Output current feedback readings
should be used for fault checking only.
L1206334 • Rev FA • May 2014
13
Technical Information
PLUS+1® SC Controller Family
Outputs
W
Warning
Unintended movement of the machine or mechanism may cause injury to the technician or bystanders.
The module will be powered up if battery voltage is applied to the module's output pin. To protect
against unintended movement, secure the machine.
C
Caution
Warranty will be voided if module is damaged by significant current driven back through an output pin.
Specifications
Description
Units
Minimum
Maximum
Comment
Full scale proportional
current output
mA
10
3000
The current may accidently be exceeded in open
loop mode. If the current exceeds the trip point, the
output will be latched off.
Output voltage, 100% duty cycle
Vdc
0
Vbatt-1
Output resolution of 3 A
mA
0.25
Repeatability of full range
% of full scale
0.5
Absolute accuracy of full range
% of full scale
0.3
Output settling time
ms
100
PWM frequency
Hz
33
Depends on load characteristics.
4000 and
20,000
Dither frequency
Hz
40
250
Increased in steps, see module API.
Dither amplitude
A
0
0.5
Increased in steps, see module API.
Over-current trip point
A
5
7.3
There is over-current protection built into each
output driver. If the instantaneous current exceeds
the trip point, the driver is latched off. GUIDE
application software can reset the latch and attempt
to drive current again.
For each PWM output there are two switches in series for sourcing current/voltage (the high-side of the
half bridge has two switches). One switch is controlled and monitored by the secondary controller, and
the other is controlled and monitored by the primary controller. The secondary controller can monitor
the condition of the redundant switch under its control with a digital voltage feedback signal. Each
sourcing PWM output can be disconnected from its supply voltage at any time by the secondary
controller with this redundant switch. When the redundant switch is disabled it must remain disabled by
the kernel for 250 ms before the secondary controller's application is allowed to re-enable the redundant
switch. When the switch controlled by the secondary controller is enabled then the PWM outputs are
allowed to source current as commanded by the primary controller. The primary controller can monitor
the condition of its switch with the analog current feedback measurement.
LEDs
There are two LED's on every PLUS+1® module, one red and one green. Both are under application
software control of the primary controller. Before the primary controller's application software starts
running, the green LED will be on and the red LED will be off.
Each LED light pipe will have an alternate yellow color which the application software will not have
access to. These alternate yellow colors will be used to indicate low-level software and/or hardware
failures. The yellow LED shared with the green LED light pipe will be controlled by the primary controller,
and the yellow LED shared with the red LED light pipe will be controlled by the secondary controller.
When either yellow LED is enabled the signal will override its shared green or red LED.
14
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Technical Information
PLUS+1® SC Controller Family
Controller Area Network specifications
CAN (Controller Area Network)
There are two channels fully dedicated to CAN communications on the 50 pin hardware. One channel
routed to the primary processor only, and the other channel is routed to both the primary and secondary
processors.
There is one channel fully dedicated to CAN communications on the 24 pin hardware. This channel is
routed to both the primary and secondary processors.
Baud rate
Up to 1 M
Termination
No internal termination
CAN system design
All PLUS+1 modules have CAN ports that conform to CAN 2.0B specifications, including CAN shield.
W
Warning
Unintended movement of the machine or mechanism may cause injury to the technician or bystanders.
Machine performance may be impaired if CAN communications are disrupted by electrical fields in excess
of 30 V/m between 20 and 30 MHz. To prevent potential unintended machine movement and to meet
EMC requirements, a shielded CAN bus must be used to achieve 100 V/m immunity.
Terminating resistor
Each end of the main backbone of the CAN bus must be terminated with an appropriate resistance to
provide correct termination of the CAN_H and CAN_L conductors. This termination resistance should be
connected between the CAN_H and CAN_L conductors.
Specifications
Description
Units
Minimum
Maximum
Nominal
Comment
Resistance
Ω
110
130
120
Minimum power dissipation 400 mW
(assumes a short of 16 Vdc to CAN_H).
Inductance
µH
1
CAN Bus installation
Total bus impedance should be 60 Ω.
The CAN transceiver will be damaged by any voltage outside of allowable range, (-7 to +36 Vdc), even
with a very short pulse.
If using shielded cable, the shield must be grounded to the machine ground at one point only; preferably
at the mid-point of the CAN bus. Each PLUS+1 module CAN shield pin must be connected to the cable
shield.
Expansion module CAN Bus loading
System designers incorporating PLUS+1 expansion modules in their applications should be aware of
PLUS+1 CAN bus loading and controller memory usage during system design. Each expansion module is
associated with a PLUS+1 controller and uses part of the controller's memory resources for inter-module
communications. The table below can be used to estimate system CAN bus loading and the memory
impact of I/O modules on their associated controller.
L1206334 • Rev FA • May 2014
15
Technical Information
PLUS+1® SC Controller Family
Controller Area Network specifications
Estimated usage of memory and communication resources
Description
IX012-010
IX024-010
OX012-010
OX024-010
IOX012-010
IOX024-20
Estimated module bus load (using 4%
default update and 250K bus
speed)
10%
11%
27%
11%
27%
Estimated module bus load (using 2%
70 ms updates and 250K bus
speed)
5%
3%
8%
4%
8%
RAM usage on SC024-010,
SC024-020
9%
12%
9%
14%
9%
17%
RAM usage on SC050-020
1%
1%
1%
2%
1%
2%
ROM usage on SC024-010,
SC024-020
8%
11%
12%
18%
10%
20%
ROM usage on SC050-020
3%
4%
4%
6%
3%
8%
Internal Micro-Micro Uart
There are two channels fully dedicated to diagnostic communication between processors. One channel is
dedicated to processor diagnostics, and the other is dedicated to CAN_1 message send and receive
diagnostics.
The hardware and low-level software provide a basic framework for communication on each channel,
however the specific data structure is not predefined because the data to be transferred is application
dependent.
Baud rate
Up to 7.5 M
Termination
N/A
The secondary controller:
• Has access to all inputs including sensor power and battery measurements, PWM output currents, as
well as one external CAN channel.
• Can control and check all redundant sourcing output stages.
•
•
•
16
Has access to a digital signal indicating that the internal power supplies are within acceptable limits.
Can communicate application specific data through a dedicated serial bus.
Has the ability to disable sourcing (disconnect high-side switch) of each output individually in the
event that any of these signals indicates there is a fault condition as defined by the application.
L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Product ratings
Power
Battery power must be supplied to designated power-up digital inputs, since the controller's 3 to 12 Vdc
regulated power supply is not available when the controller is in lower power mode.
Module supply voltage/maximum current ratings
PLUS+1 modules are designed to operate with a nominal 7 to 36 Vdc power supply. The modules will
survive with full functionality if the supply voltage remains below 36 Vdc.
Specifications
Description
Units
Minimum
Maximum
Allowed voltage at pin
Vdc
0
36
Allowed module current
A
0
SRon
Minimum voltage rise rate for
power turn-on
V/ms
1
—
The voltage applied to the power pins must exceed
this value to guarantee the device will power-up.
Ton
Turn-on time
ms
—
250
From applied battery power to application software
start.
C
Comment
Consult module data sheets for maximum allowable
current.
Caution
PCB damage may occur. To prevent damage to the module all module power supply + pins must be
connected to the vehicle power supply to support advertised module maximum output current capacity.
DO NOT use module power supply + pins to supply power to other modules on a machine.
Lower power mode
This feature gives OEM designers the ability to implement automotive-like features in their machine
control system design. If the lower power mode feature is not implemented, this controller has the same
operating characteristics as any other PLUS+1 controller.
When used as a lower power mode controller, supply power to the module is connected directly to the
battery. Lower power mode initiation is defined by the controller's application software: PLUS+1 GUIDE
programmers define the conditions under which the controller is to put into lower power mode. When in
lower power mode, controller outputs are set to zero, sensor power supply is off and the controller
consumes a small amount of current.
Controller lower power mode current consumption
Supply voltage
Lower power mode current consumption
12 Vdc
20 mA
24 Vdc
20 mA
Either of two conditions will wake up the controller:
• The power supplies can be re-energized by cycling battery power.
•
Generating a positive/rising edge on one of several inputs:
‒ SC024-010: C1p5, C1p6, C1p7, C1p10, C1p11, C1p12, C2p1, C2p7, C2p8
‒ SC024-020: C1p5, C1p6, C1p7
‒ SC050-020: C1p5, C1p6, C1p7, C1p19, C1p20, C1p23, C1p24, C1p31, C1p32
L1206334 • Rev FA • May 2014
17
Technical Information
PLUS+1® SC Controller Family
Product ratings
Specifications
Description
Units
Minimum
Maximum
Comment
Power-up pin threshold
Vdc
2
36
To wake up by cycling input power.
Power-up pin threshold
Vdc
4.5
36
To wake up by digital input.
Power-up time delay
mSec
250
500
SRon
Minimum voltage rise V/ms
rate for power turnon
—
—
The voltage applied to the input pins must exceed
this value to guarantee the device will power-up.
Toff
Turn-off time
150
400
From software commanded shutdown to micro
reset.
ms
Sensor power supply ratings
PLUS+1 modules that support sensor inputs are provided with dedicated, software adjustable, regulated
sensor power supply and ground pins. Refer to individual product data sheets for sensor power supply
current ratings.
General
Description
Comment
Short circuit to ground
Output is not damaged and fault is detected.
Short circuit to battery +
Output is not damaged and fault is detected.
Specifications
Description
Units
Minimum
Maximum
Output short circuit voltage
Vdc
Sensor output voltage
Vdc
3
12
Output current
mA
0
500
Output Load Capacitance
µF
Hold up time after power loss
ms
Comment
36
The maximum power must be limited to 2.5 Watts for Vout
greater than 5 Vdc.
10
5
15
SC Controllers feature two additional levels of regulated power: 1.6 Vdc and 3.3 Vdc. The PLUS+1 GUIDE
application developer can detect open and short digital inputs, when these power supplies are used in
conjunction with DIN/AIN inputs.
Specifications
Description
Units
Output short circuit voltage
Vdc
Minimum
Maximum
Comment
Output voltage, sensors
Vdc
3
12
Sensor power supply drops below minimum if controller
power supply is less than 7 Vdc.
Output voltage, DIN diagnostics
Vdc
1.58
1.76
Nominal 1.6
Output voltage, DIN diagnostics
Vdc
3.21
3.45
Nominal 3.3
36
EEPROM Write/Erase ratings
To prevent unexpected memory writes, care must be taken to ensure memory with a high number of
read/write cycles is either U32 or S32 data types.
18
L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Product ratings
Specifications
Description
Minimum
EEPROM write/erase cycles
1 million
Maximum
Comment
Minimum valid over entire operating temperature
range.
EEPROM used in PLUS+1® controllers is rated for one million read/write cycles per sector. Sector size is 32
bits. When a value is written to EEPROM, all 32 bits in a particular sector are always written, regardless of
the size of the size of the saved value. If the value being saved in a sector is less than 32 bits (such as. U8,
S16, BOLL, etc) adjacent bits in the same EEPROM sector are rewritten with their previous value. The
implication of this memory property is that if two values are being written to the same memory sector,
the useful life of the sector is determined by the value being written most frequently. If that value
exceeds 1 million read/write cycles, all values in the sector may be compromised if the useful life is
exceeded.
Environmental testing criteria
General product ratings
Description
Units
Minimum
Maximum
Comment
Operating temperature
˚C [˚F]
-40 [-40]
85 [185]
Storage temperature
˚C [˚F]
-40 [-40]
85 [185]
Allowable module supply voltage
Vdc
7
36
Module sensor supply voltage
Vdc
3
12
Analog input voltage levels
Vdc
Allowable output load current
(per pin)
A
See individual module date sheets.
Module allowable total output current
A
See individual module data sheets.
Sensor voltage drops below the minimum value if
module supply voltage < 7 Vdc. See Sensor power supply
ratings on page 18.
36
All modules Ingress Protection (IP) rating*
IP 67
All modules CE rating
CE compliant.
* The PLUS+1 modules IP 67 rating is only valid when the module mating connector is in place and unused connector pin positions have sealing plugs
installed.
SC Controller Family environmental testing criteria
Climate environment
Description
Applicable standard
Storage temperature
IEC 60068-2-1, test Ab, IEC 60068-2-2
test Bb
Operating temperature
IEC 60068-2-1, test Ab, IEC 60068-2-2
test Bd
Thermal cycle
IEC 60068-2-2, test Na, IEC
60068-2-38 (partial)
Humidity
IEC 60068-2-78, IEC 60068-2-30 test
Db
Degree of protection
IEC 60529
L1206334 • Rev FA • May 2014
Comment
Damp heat steady state and cyclic.
19
Technical Information
PLUS+1® SC Controller Family
Product ratings
Chemical environment
Description
Applicable standard
Chemical resistance
ISO 16750-5
Comment
Mechanical environment
Description
Applicable standard
Vibration
IEC 60068-2-6 test Fc, IEC
6008-2-64 test Fh
Bump
IEC 60068-2-29 test Eb
Shock
IEC 60068-2-27 test Ea
Free fall
IEC 60068-2-32 test Ed
Comment
Electrical/electromagnetic
Description
Applicable standard
Comment
EMC emission
EN ISO 14982, ISO 13766
Electromagnetic compatibility for earth moving machinery.
EMC immunity
EN ISO 14982, ISO 13766
Electromagnetic compatibility for earth moving machinery.
Electrostatic discharge
EN 60-1 000-4-2
Auto electrical transients
ISO 7637-2, ISO 7637-3
Short circuit protection
Danfoss test
Inputs and outputs survive continuous short circuit. Normal
function resumes when short is removed.
Reversed polarity protection
Danfoss test
Survives reverse polarity at supply voltage for at least five
minutes.
Modules housing
PLUS+1® module housings feature a snap together assembly that is tamper-proof. Once assembled at the
factory, the housing cannot be opened for service.
Opening the modules housing will void the factory warranty.
20
L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Product installation and start-up
General comments
Mating connectors
The SC Controller Family use Deutsch® connectors. Danfoss has assembled a mating connector kit,
referred to as a bag assembly, for the 24 and 50 pin module housings. Mating connector bag assembly
ordering information is found in the product data sheet for each module.
Deutsch mating connector part information
Description
24 pin module
50 pin module
Crimp tool
HDT48-00 (solid contacts) (20 to 24 AWG)
HDT48-00 (solid contacts) (20 to 24 AWG)
DTT20-00 (stamped contacts) (16 to 20 AWG)
DTT20-00 (stamped contacts) (16 to 20 AWG)
Solid: 0462-201-2031 (20 to 24 AWG)
Solid: 0462-201-2031 (20 to 24 AWG)
Stamped: 1062-20-0144 (16 to 20 AWG)
Stamped: 1062-20-0144 (16 to 20 AWG)
Connector plug
Gray A-Key DTM 06-12SA Black B-Key DTM
06-12SB
DRC26-50S01
Wedge
WM-12S
Not required
Strip length
3.96 to 5.54 mm [0.156 to 0.218 in]
3.96 to 5.54 mm [0.156 to 0.218 in]
Rear seal maximum insulation OD
3.05 mm [0.120 in]
2.41 mm [0.095 in]
Sealing plugs
0413-204-2005
0413-204-2005
Contacts
Danfoss mating connector part information
Description
24 pin module
50 pin module
Mating connector bag assembly (20 to 24 AWG)
10100945
10100946
Mating connector bag assembly (16 to 20 AWG)
10102023
10102024
Danfoss crimp extraction tool part information
Description
Part number
Crimp tool for 20 to 24 AWG
10100745
Crimp tool for 16 to 20 AWG
10102028
Extraction tool Deutsch 114010; 12 AWG
11068808
Extraction tool Deutsch 0144-240-2005; 16 to 20, 20 to 24 AWG
10100744
PLUS+1® module mating connectors may be mated 10 times.
Recommended torque for the Deutsch® mating connector retaining fastener on the 50 pin connector is
2.26 N•m (20 lb•in).
Product installation
Mounting
PLUS+1® modules can be mounted in one of three ways:
End (bulkhead) installation
•
•
•
Up to 3 units stacked on one another
Individually side mounted
L1206334 • Rev FA • May 2014
21
Technical Information
PLUS+1® SC Controller Family
Product installation and start-up
In each case, care must be taken to insure that the module connector is positioned so that moisture
drains away from the connector. If the module is side or stack mounted, provide a drip loop in the
harness. If the module is mounted vertically, the connector should be on the bottom of the module.
Provide strain relief for mating connector wires.
C
Caution
Module damage may occur. Use caution when installing modules. Due to the size of the mating
connector wire bundle, it is possible to twist off the end cap of the module if excessive pressure is applied
during the installation of harness strain relief.
Suggested fasteners and recommended installation torque
Mounting method
Recommended OD
Recommended torque
Bulkhead mount; multiple units stacked; single
6.0 mm (0.25 in)
49 N•m (7 ft•lb)
Machine diagnostic connector
It is recommended that a diagnostic connector be installed on machines that are controlled by PLUS+1®
modules. The connector should be located in the operator's cabin or in the area where machine
operations are controlled and should be easily accessible.
Communication (software uploads and downloads and service and diagnostic tool interaction) between
PLUS+1 modules and personal computers is accomplished over the vehicle CAN network. The diagnostic
connector should tee into the vehicle CAN bus and have the following elements:
• CAN +
•
•
CAN CAN shield
Grounding
Proper operation of any electronic control system requires that all control modules including displays,
microcontrollers and expansion modules be connected to a common ground. A dedicated ground wire
of appropriate size connected to the machine battery is recommended.
Hot plugging
Machine power should be off when connecting PLUS+1® modules to mating connectors.
Recommended machine wiring guidelines
1. All wires must be protected from mechanical abuse. Wires should be run in flexible metal or plastic
conduits.
2. Use 85˚ C [185˚ F] wire with abrasion resistant insulation. 105˚ C [221˚ F] wire should be considered
near hot surfaces.
3. Use a wire size that is appropriate for the module connector.
4. Separate high current wires such as solenoids, lights, alternators or fuel pumps from sensor and other
noise-sensitive input wires.
5. Run wires along the inside of, or close to, metal machine surfaces where possible. This simulates a
shield which will minimize the effects of EMI/RFI radiation.
6. Do not run wires near sharp metal corners. Consider running wires through a grommet when
rounding a corner.
7. Do not run wires near hot machine members.
8. Provide strain relief for all wires.
9. Avoid running wires near moving or vibrating components.
10. Avoid long, unsupported wire spans.
11. All analog sensors should be powered by the sensor power source from the PLUS+1® controller and
ground returned to the sensor ground pin on the PLUS+1® controller.
22
L1206334 • Rev FA • May 2014
Technical Information
PLUS+1® SC Controller Family
Product installation and start-up
12. Sensor lines should be twisted about one turn every 10 cm [4 in].
13. It is better to use wire harness anchors that will allow wires to float with respect to the machine rather
than rigid anchors.
14. Electronic modules should be grounded to a dedicated conductor of sufficient size that is connected
to the battery (-).
Electronic components welding guidelines
Remove electronic components from the machine before any arc welding. The following is
recommended when welding on a machine equipped with electronic components:
• Turn the engine off.
•
•
•
Disconnect the negative battery cable from the battery.
Do not use electronic components to ground the welder.
Clamp the ground cable for the welder to the component that will be welded as close as possible to
the weld.
PLUS+1® USB/CAN Gateway
Communication (software uploads and downloads and service and diagnostic tool interaction) between
PLUS+1 modules and a personal computer (PC) is accomplished using the vehicle's PLUS+1 CAN network.
The PLUS+1 CG150 USB/CAN gateway provides the communication interface between a PC USB port and
the vehicle CAN bus. When connected to a PC, the gateway acts as a USB slave. In this configuration, all
required electrical power is supplied by the upstream PC host. No other power source is required.
Refer to the PLUS+1 GUIDE Software User Manual, literature number 10100824, for gateway set-up
information. Refer to the CG150 USB/CAN Gateway Data Sheet, literature number 520L0945, for electrical
specifications and connector pin details.
L1206334 • Rev FA • May 2014
23
Products we offer:
• Bent Axis Motors
• Closed Circuit Axial Piston
Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and
electronic components. We specialize in providing state-of-the-art technology and solutions that
excel in the harsh operating conditions of the mobile off-highway market. Building on our extensive
applications expertise, we work closely with our customers to ensure exceptional performance for a
broad range of off-highway vehicles.
• Displays
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We help OEMs around the world speed up system development, reduce costs and bring vehicles to
market faster.
Danfoss – Your Strongest Partner in Mobile Hydraulics.
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Steering
•
•
•
•
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Go to www.powersolutions.danfoss.com for further product information.
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Integrated Systems
We offer expert worldwide support for our customers, ensuring the best possible solutions for
outstanding performance. And with an extensive network of Global Service Partners, we also provide
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Joysticks and Control
Handles
• Microcontrollers and
Please contact the Danfoss Power Solution representative nearest you.
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Pumps
•
•
•
•
•
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PLUS+1® GUIDE
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Sensors
Steering
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www.comatrol.com
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www.schwarzmuellerinverter.com
Local address:
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www.turollaocg.com
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www.valmova.com
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www.hydro-gear.com
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Phone: +1 515 239 6000
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Phone: +86 21 3418 5200
Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to
products already on order provided that such alterations can be made without changes being necessary in specifications already agreed..
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L1206334 • Rev FA • May 2014
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© Danfoss A/S, 2014
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