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	XX
		'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,	1803
		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,	1802
		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;	1701
		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	Various updates	BA through OA
	2013
	March 2004	First edition	AA

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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/electroniccontrols/?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)

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.

PLUS+1® GUIDE User Manual

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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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	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).

DIN characteristics

Description	Units	Minimum	Maximum	Comment
Allowed voltage at pin	Vdc	0	36*	Modules will survive with full
				functionality if input voltage does not
				exceed 36 Vdc.
Rising voltage threshold	Vdc	2.80	4.15	A digital input is guaranteed to be
				read as high if the voltage is greater
				than 4.15 Vdc.
Falling voltage threshold	Vdc	1.01	2.77	A digital input is guaranteed to be
				read as low if the voltage is less than
				1.01 Vdc.
Time to change state in	ms		1.5	Input change from maximum to
response to step input				minimum—add to debounce time.
Input impedance
Input voltage < 5.7 Vdc	kΩ			233 nominal—no pull up or pull
				down pin configuration.
Input impedance
Input voltage < 5.7 Vdc	kΩ			14.1 nominal—pull up or pull down
				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*	Vdc	0	36**
0 to 5 Vdc range maximum	Vdc	5.21	5.30	5.26 is typical.
discernible voltage
0 to 36 Vdc range	Vdc		31.70
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.

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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Technical Information

MC0XX-0XX Controller Family

CAN

Rxhinopull.HiV (Vin)

Rxhipullup.HiV (Vin)

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	Rxhipullboth.HiV(Vin)

High range input impedance for analog inputs

30000

27500

25000

22500

20000

17500

15000

12500

10000

7500

5000

9	12	15	18	21	24	27	30	33	36
					Vin

Voltage

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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).

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