Danfoss MC0XX-0XX User guide
Technical Information
PLUS+1® Controllers
MC0XX-0XX Controller Family
www.danfoss.com
Technical Information
MC0XX-0XX Controller Family
Revision history Table of revisions
Date Changed Rev
May 2021 Added torque information 1908
Changed document number from 'BC00000034' and '520L0719' to
'BC152886484710'
October 2019 Resolved link under General ratings, table MC controllers general ratings. 1804
October 2019 Corrected table Danfoss crimp extraction tool part information, last row,
Description: Extraction tool DEUTSCH 0411-240-2005; 16 to 20, 20 to 24
AW.
March 2017 Changed module name, HMC-211-010/112; Changed name of manual,
from PLUS+1 Controller Family to PLUS+1 MC0XX-0XX Controller Family.
December 2016 Added input impedance for analog inputs 1801
July 2016 Updated DIN/AIN/FreqIN; Din/AIN/FreqIN/Rheo Specifications table;
Din/AIN/FreqIN Specifications table; added link to MC038-010 sleep
mode in first bullet under MC038-010 power supply; updated to
Engineering Tomorrow design
May 2015 Revised note regarding pin C1p26 QA
February 2014 MC050-055/05B input voltage maximum is limited to 16 Vdc PB
January 2014 Converted to Danfoss layout PA
June 2005 to September
2013
March 2004 First edition AA
Various updates BA through OA
XX
1803
1802
1701
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Technical Information
MC0XX-0XX Controller Family
Contents
MC0XX-0XX Controller Family literature references
Technical Information (TI)............................................................................................................................................................. 4
Module product Data Sheet (DS)................................................................................................................................................4
API specifications (API)................................................................................................................................................................... 4
PLUS+1® GUIDE User Manual....................................................................................................................................................... 4
User liability and safety statements
OEM responsibility........................................................................................................................................................................... 5
Overview
MC0XX-0XX Controller Family.....................................................................................................................................................6
CAN
Input types..........................................................................................................................................................................................7
DIN....................................................................................................................................................................................................7
AIN.................................................................................................................................................................................................... 8
High range input impedance for analog inputs.........................................................................................................9
AIN offset..................................................................................................................................................................................... 10
A/D refresh rate......................................................................................................................................................................... 10
AIN/Temp/Rheo; DIN/AIN/FreqIN/Rheo...........................................................................................................................10
DIN/AIN/FreqIN; DIN/AIN/FreqIN/Rheo............................................................................................................................11
DIN/AIN/FreqIN......................................................................................................................................................................... 13
DIN/AIN/4-20 mA IN.................................................................................................................................................................14
Output types....................................................................................................................................................................................15
DOUT and DOUT/PVEpwr......................................................................................................................................................16
HDOUT..........................................................................................................................................................................................17
PWMOUT/DOUT/PVGOUT.....................................................................................................................................................17
HPWMOUT/DOUT.....................................................................................................................................................................19
MC038-010, MC088-XXX output pin power supply.....................................................................................................19
Controller Area Network (CAN)
CAN system design........................................................................................................................................................................20
Specifications for terminating resistor...................................................................................................................................20
Notes on CAN Bus installation...................................................................................................................................................20
Expansion module CAN Bus loading...................................................................................................................................... 20
Product ratings
Module supply voltage/maximum current ratings........................................................................................................... 22
MC038-010 power supply...........................................................................................................................................................22
MC038-010 sleep mode...............................................................................................................................................................22
Sensor power supply ratings..................................................................................................................................................... 23
PVG valve power supply ratings...............................................................................................................................................24
EEPROM write/erase ratings.......................................................................................................................................................24
Vault memory.............................................................................................................................................................................24
FRAM memory........................................................................................................................................................................... 24
Environmental testing criteria...................................................................................................................................................25
General ratings.......................................................................................................................................................................... 26
Modules housing............................................................................................................................................................................26
Product installation and start-up
Connectors....................................................................................................................................................................................... 27
Mounting.......................................................................................................................................................................................... 28
Machine diagnostic connector................................................................................................................................................. 29
Grounding........................................................................................................................................................................................ 29
Hot plugging................................................................................................................................................................................... 29
Machine wiring guidelines......................................................................................................................................................... 29
Machine welding guidelines......................................................................................................................................................30
PLUS+1® USB/CAN Gateway.......................................................................................................................................................30
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Technical Information
MC0XX-0XX Controller Family
MC0XX-0XX Controller Family literature references
Literature title Document type Literature ID
MC0XX-0XX Controller Family Technical Information User Guide BC152886484710
MC0XX-0XX Controllers Data Sheets Data Sheet
PLUS+1® GUIDE Software User Manual Operation Guide AQ152886483724
*
Data Sheets for 12, 18, 24, 38, 50, and 88 pin models, go to https://www.danfoss.com/en/products/electronic-
controls/?sort=default_sort.
Comprehensive technical literature is online at www.danfoss.com
Technical Information (TI)
A TI is comprehensive information for engineering and service personnel to reference.
Module product Data Sheet (DS)
A module product DS contains summarized information and parameters that are unique to an individual
PLUS+1® module, including:
Numbers and types of inputs and outputs
•
Module connector pin assignments
•
Module maximum current capacity
•
Module sensor power supply (if present) current capacity
•
Module installation drawing
•
Module weights
•
Product ordering information
•
*
API specifications (API)
PLUS+1® GUIDE User Manual
Module API specifications contain detailed information about the module BIOS. PLUS+1® BIOS
functionality is pin dependent. Pins are defined in module data sheets as C (connector number) p (pin
number).
API specifications include:
Variable name
•
Variable data type
•
Variable direction (read/write)
•
Variable function and scaling
•
Module API specifications are the definitive source of information regarding PLUS+1® module pin
characteristics.
The Operation Manual (OM) details information regarding the PLUS+1® GUIDE tool used in building PLUS
+1® applications. This OM covers the following broad topics:
How to use the PLUS+1® GUIDE graphical application development tool to create machine
•
applications
How to configure module input and output parameters
•
How to download PLUS+1® GUIDE applications to target PLUS+1® hardware modules
•
How to upload and download tuning parameters
•
How to use the PLUS+1® Service Tool
•
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Technical Information
MC0XX-0XX 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.
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Technical Information
MC0XX-0XX Controller Family
Overview
MC0XX-0XX Controller Family
PLUS+1® Mobile Machine Modules are designed to provide flexible, expandable, powerful and cost
effective total machine management systems for a wide variety of vehicle applications.
These modules communicate with one another and other intelligent systems over a machine Controller
Area Network (CAN) data bus.
PLUS+1® controller products utilize modular designs wherever possible. This modularity extends to
product housings, connectors and control circuitry.
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® Compliant systems are incrementally expandable: additional modules can be easily added to
the machine CAN bus to increase system capabilities or computational power.
Six standard housings, 12, 18, 24, 38, 50, and 88 pin, cover this product line.
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Technical Information
MC0XX-0XX Controller Family
CAN
Input types
•
Digital (DIN)
•
Digital or Analog (DIN/AIN)
•
Analog or Temperature or Rheostat (AIN/Temp/Rheo)
•
Multifunction: Digital or Analog or Frequency (DIN/AIN/FreqIN)
•
Multifunction: Digital or Analog or Frequency or Rheostat (DIN/AIN/FreqIN/Rheo)
•
Fixed Range Analog or CAN shield (AIN/CAN shield)
•
Digital or Analog or Current (DIN/AIN/4-20 mA IN)
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.
DIN
Digital inputs (DIN) connected to PLUS+1® dedicated digital input pins are debounced in software. Digital
input debounce is defined as an input being in a given state for three samples before a state change is
reported. The sample time is a function of application loop time.
Multifunction pins that are configured to be Digital input (DIN) are subject to the same update rates as
the Analog input (AIN) 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 response to input time
Description Comment
Response to input below minimum voltage
Response to input above maximum voltage
Response to input open
Voltage working ranges
Non-damaging, non-latching; reading saturates to the low limit.
Non-damaging, non-latching; reading saturates to the high limit.
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
Programmable (see specific data sheets for ranges).
DIN characteristics
Description Units Minimum Maximum Comment
Allowed voltage at pin Vdc 0 36
Rising voltage threshold Vdc 2.80 4.15 A digital input is guaranteed to be
Falling voltage threshold Vdc 1.01 2.77 A digital input is guaranteed to be
Time to change state in
response to step input
Input impedance
Input voltage < 5.7 Vdc kΩ 233 nominal—no pull up or pull
Input impedance
Input voltage < 5.7 Vdc kΩ 14.1 nominal—pull up or pull down
ms 1.5 Input change from maximum to
*
Modules will survive with full
functionality if input voltage does not
exceed 36 Vdc.
read as high if the voltage is greater
than 4.15 Vdc.
read as low if the voltage is less than
1.01 Vdc.
minimum—add to debounce time.
down pin configuration.
pin configuration.
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Technical Information
MC0XX-0XX Controller Family
CAN
DIN characteristics (continued)
Description Units Minimum Maximum Comment
Input impedance
Input voltage ≥ 5.7 Vdc kΩ 14.1 nominal—all pin configurations.
*
MC050-055/05B input voltage maximum is limited to 16 Vdc.
AIN
Analog inputs (AIN) specifications
Description Units Minimum Maximum Comment
Allowed voltage at pin
0 to 5 Vdc range maximum
discernible voltage
0 to 36 Vdc range
maximum discernible
voltage
Precision mV 1.28
Input impedance kΩ 206 236 Depends on pin configuration.
*
Maximum allowed voltage on fixed range analog input pins (CAN shield) is 25 Vdc.
**
MC050-055/05B input voltage maximum is limited to 16 Vdc.
*
Vdc 0 36
Vdc 5.21 5.30 5.26 is typical.
Vdc 31.70
**
For voltages > 5.7 V, see High range input impedance for analog inputs on page 9.
In high range the input impedance decreases as the input voltage increases.
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9 12 15 18 21 24 27 30 33 36
5000
7500
10000
12500
15000
17500
20000
22500
25000
27500
30000
Voltage
Ohms
Rxhi
nopull.HiV
(Vin)
Rxhi
pullup.HiV
(Vin)
Rxhi
pulldn.HiV
(Vin)
Rxhi
pullboth.HiV
(Vin)
Vin
Technical Information
MC0XX-0XX Controller Family
CAN
High range input impedance for analog inputs
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Technical Information
MC0XX-0XX Controller Family
CAN
AIN offset
Module analog input offset error can be 80 counts out of 4096 (12 bit resolution). Therefore, the
minimum voltage that a module will read at the 0 to 5.25 VDC range is 105 mV. The minimum voltage that
a module will read at the 0 to 36 VDC range is 703 mV.
The input offset error is a function of component tolerances and can vary from one module to the next.
When an input value is used in an algorithm where the offset error could impact the control strategy, the
way the signal is acquired and the need to calibrate should be considered.
A/D refresh rate
Analog to Digital (A/D) refresh rates for individual PLUS+1® MC0XX-0XX family modules and expansion
modules are listed in the following table.
A/D channels are sampled at 25 kHz and 64 samples are taken to build an average value. This results in a
refresh rate of 2.56 ms for channels directly measured. All internal current feedback channels are
refreshed at the 2.56 ms rate.
Some PLUS+1® MC0XX-0XX family modules A/D channels are shared. Each of the shared channels have
eight multiplexed analog inputs. Each multiplexed input is serviced every 20.48 ms. Update rates for
specific analog input pins are found in the following table. Update rates for input expander modules are
dependent on the CAN message frequency selected in the application program.
A/D refresh rates for PLUS+1® MC0XX-0XX family modules
PLUS+1® module A/D refresh rate
MC012-010/012 All: 2.56 ms
MC012-026/029 All: 2.56 ms
HMC-211-010/012 All: 2.56 ms
MC024-010/011/012/014 All: 2.56 ms
MC024-020/021/022/024 C1p10 to C1p12: 7.68 ms
Remaining pins: 2.56 ms
MC024-500 All: 2.56 ms
MC038-010 C1p08, C1p14, C1p17 to C1p20, C1p24 to C1p27, C1p36 to C1p38: 20.48 ms
C1p05, C1p10 to C1p12: 2.56 ms
MC050-010/012 C1p05, C1p08, C1p14 to C1p19, C1p22 to C1p30, C1p34 to C1p36: 20.48 ms
C1p02: 2.56 ms
MC050-020/022 C1p05, C1p22, C1p25 to C1p32, C1p39, C1p40: 20.48 ms
C1p02, C1p08, C1p18, C1p19, C1p23, C1p24: 2.56 ms
MC050-055/05B C1p05, C1p13 to C1p29, C1p31 to C1p39, C1p41 to C1p45: 20.48 ms
C1p46 to C1p49: 2.56 ms
MC088-015/01B/315 C1p05, C1p08, C1p14 to C1p19, C1p22 to C1p30, C1p34 to C1p36, C1p47 to
C1p50 , C2p09 to C2p11, C2p35 to C2p38: 20.48 ms
IOX012-010 Refresh rate is a function of CAN message frequency
IOX024-020 Refresh rate is a function of CAN message frequency
IX012-010 Refresh rate is a function of CAN message frequency
IX024-010 Refresh rate is a function of CAN message frequency
AIN/Temp/Rheo; DIN/AIN/FreqIN/Rheo
Analog/Temperature/Rheostat (AIN/Temp/Rheo); Digital/Analog/Frequency/Rheostat (DIN/AIN/FreqIN/
Rheo).
When a PLUS+1® module input pin is configured in the temperature/rheostat mode, the input has a 1.33
kΩ pull up resistor to +5 Vdc. It will source up to 3.75 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 = (4096*RL) / (RL + 1330).
10 | © Danfoss | May 2021 BC152886484710en-001908
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