Danfoss PLUS+1 MC024-120, PLUS+1 MC012-110, PLUS+1 MC024-112, PLUS+1 MC024-110, PLUS+1 MC024-122 Technical Information
...
Technical Information
PLUS+1®
MC0XX-1XX Controllers Family
www.danfoss.com
Revision history Table of revisions
Date Changed Rev
April 2018 Added caution statement in DOUT and DOUT/PVGpwr topic and then added a new topic, Single
Pulse Maximum Demagnetization Energy at 150 C
0401
August 2017 Minor correction 0302
May 2017 Recommended torque for fastners updated 0301
July 2016 Added notes regarding 5.7 V and high range under Analog (AIN) specifications table; then
added High Range Input Impedance for Analog Inputs chart; updated Sensor power supply
ratings: Specifications (MC50-155/15B)
0201
March 2016 Updated to Engineering Tomorrow design 0102
Mar 2014 First edition AA
Technical Information
PLUS+1® MC0XX-1XX Controller Family
2 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
MC0XX-1XX 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-1XX Controllers Family................................................................................................................................................... 6
Inputs/outputs types and specifications
Input types..........................................................................................................................................................................................7
DIN....................................................................................................................................................................................................7
AIN.................................................................................................................................................................................................... 8
High range input impedance for analog inputs.........................................................................................................9
A/D refresh rate......................................................................................................................................................................... 10
AIN/Temp/Rheo; Din/AIN/FreqIN/Rheo........................................................................................................................... 10
DIN/AIN/FreqIN; Din/AIN/FreqIN/Rheo (All models)................................................................................................... 11
Output types....................................................................................................................................................................................13
DOUT and DOUT/PVGpwr.....................................................................................................................................................14
Single Pulse Maximum Demagnetization Energy at 150 C....................................................................................... 15
PWMOUT/DOUT/PVGOUT.....................................................................................................................................................15
Controller Area Network (CAN)
CAN system design........................................................................................................................................................................18
Specifications for terminating resistor...................................................................................................................................18
Notes on CAN Bus installation...................................................................................................................................................18
Expansion module CAN Bus loading...................................................................................................................................... 18
Product ratings
Power..................................................................................................................................................................................................20
Module supply voltage/maximum current ratings......................................................................................................20
Sensor power supply ratings................................................................................................................................................20
PVG valve power supply ratings..........................................................................................................................................21
Non-volatile memory read/write ratings...............................................................................................................................21
FRAM memory........................................................................................................................................................................... 21
Vault memory.............................................................................................................................................................................21
General ratings................................................................................................................................................................................21
Environmental testing criteria...................................................................................................................................................22
Modules housing............................................................................................................................................................................23
Product installation and start-up
Connectors....................................................................................................................................................................................... 24
Mounting.......................................................................................................................................................................................... 24
Machine diagnostic connector................................................................................................................................................. 25
Grounding........................................................................................................................................................................................ 25
Hot plugging................................................................................................................................................................................... 25
Machine wiring guidelines......................................................................................................................................................... 25
Machine welding guidelines......................................................................................................................................................26
PLUS+1® USB/CAN Gateway.......................................................................................................................................................26
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Contents
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Literature title Document type Literature ID
PLUS+1® MC0XX-1XX Controller Family Technical Information User Guide L1321895
PLUS+1® MC012-110 and 112 Data Sheet Data Sheet AI00000155
PLUS+1® GUIDE Software User Manual Operation Guide 10100824
Comprehensive technical literature is online at powersolutions.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
This user operation manual (OM) details information regarding the PLUS+1® GUIDE tool set that is used to
build 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
Technical Information
PLUS+1® MC0XX-1XX Controller Family
MC0XX-1XX Controller Family literature references
4 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
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.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
User liability and safety statements
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 5
MC0XX-1XX Controllers 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.
Three standard housings, 12, 24, and 50 pin, cover this product line.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Overview
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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.
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)
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).
Specifications
Description Units Minimum Typical Maximum Comment
Input voltage
range
V 0 — 36
Rising threshold
voltage
V — — 3.91 Guaranteed high voltage.
Falling threshold
voltage
V 0.85 — — Guaranteed low voltage.
Input impedance kΩ 230 233 236 No pull up or pull down.
Input impedance
(5 V/GND)
kΩ 13.9 14.1 14.3 Pull up to +5 V or pull down
to ground.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
©
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AIN
Analog inputs (AIN) specifications
Description Units Minimum Typical Maximum Comment
Allowed voltage at
pin
V 0 — 36
Middle range
Minimum
discernible voltage
mV 0 — 20
Maximum
discernible voltage
V 5.15 — 5.37
Precision mV — 1.3 —
Worst case error mV — — 120 Over the full temperature
range
Input impedance kΩ 230 233 236 No pull up or pull down
Input impedance
(5 V/GND)
kΩ 13.9 14.1 14.3 Pull up to +5 V or pull down
to ground
Input impedance
(2.5 V)
kΩ 7.1 7.3 7.4 Pull to +2.5 V
High range
Minimum
discernible voltage
mV 0 — 130
Maximum
discernible voltage
V 34.1 35.3 36.4
Precision mV — 9 —
Worst case error V — — 1.1 Over the full temperature
range
Input impedance kΩ 108 109 111 No pull up or pull down.
Input impedance
(5 V/GND)
kΩ 13.0 13.2 13.4 Pull up to +5 V or pull down
to ground.
Input impedance
(2.5 V)
kΩ 6.9 7.0 7.1 Pull to +2.5 V
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.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
8 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
High range input impedance for analog inputs
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
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
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A/D refresh rate
PLUS+1® module A/D refresh rate
MC012-110/112 All: 1.00 ms
MC024-110/112 All: 1.00 ms
MC024-120/122 All: 1.00 ms
MC050-110/112 All: 1.00 ms
MC050-120/122 All: 1.00 ms
MC050-155/15B All: 1.00 ms
IOX012-110 Refresh rate is a function of CAN message frequency
IOX024-120 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 configured as a resistance/rheostat/temp sensor input, the device will provide up to 3.76 mA
current to an external load which can then be measured. The equation for calculating AD counts for a
given load is: AD counts = (30996 x RL / (RL + 1322)). The following chart shows the relationship between
AD counts and load.
Rheostat inputs
The following chart shows the relationship between load resistance versus worst case error over the full
operating temperature -40° C to 70° C (-40° F to 158° F).
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
10 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Load resistance versus worst case error
DIN/AIN/FreqIN; Din/AIN/FreqIN/Rheo (All models)
The characteristics of Digital/Analog/Frequency (DIN/AIN/FreqIN) 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.
DIN/AIN/FreqIN general information
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.
As with analog input pins, values in the following table assume software compensation for AD converter
offset errors.
Specifications
Description Units Minimum Typical Maximum Comment
Allowed voltage at
pin
V 0 — 36
Frequency range Hz 0 — 10,000 In steps of 1 Hz.
Frequency range
when input is used
as quad count or
phase shift
Hz 0 — 5000 In steps of 1 Hz.
Low range
Minimum
discernible voltage
mV — — 12.9
Maximum
discernible voltage
mV 341 368 394
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 11
Specifications (continued)
Description Units Minimum Typical Maximum Comment
Precision mV — 0.09 —
Worst case error mV — — 27 Over the full temperature
range.
Rising voltage
threshold
V — — 0.30 Voltage required for
frequency input to read high.
Falling voltage
threshold (low
range)
V 0.04 — — Voltage required for
frequency input to read low.
Middle range
Minimum
discernible voltage
mV 0 — 20
Maximum
discernible voltage
V 5.14 5.26 5.37
Precision mV — 1.3 —
Worst case error mV — — 120 Over the full temperature
range.
Rising voltage
threshold
V — — 3.92 Voltage required for
frequency input to read high.
Falling voltage
threshold
V 0.84 — — Voltage required for
frequency input to read low.
High range
Minimum
discernible voltage
mV 0 — 130
Maximum
discernible voltage
V 34.1 35.3 36.4
Precision mV — 9 —
Worst case error V — — 1.1 Over the full temperature
range.
Rising voltage
threshold
V — — 26.52 Voltage required for
frequency input to read high.
Falling voltage
threshold
V 5.61 — — Voltage required for
frequency input to read low.
High range DAF
Input impedance kΩ 108 — 111 No pull up or pull down.
Input impedance
(5 V/GND)
kΩ 13.0 — 13.4 Pull up to +5 V or pull down
to ground.
Input impedance
(2.5 V)
kΩ 6.64 — 7.02 Pull to +2.5 V.
Middle and low range DAF
Input impedance kΩ 230 — 236 No pull up or pull down.
Input impedance
(5 V/GND)
kΩ 13.9 — 14.3 Pull up to +5 V or pull down
to ground.
Input impedance
(2.5 V)
kΩ 7.1 — 7.4 Pull to +2.5 V.
High range DAFR
Input impedance kΩ 63 — 95 No pull up or pull down.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
12 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Specifications (continued)
Description Units Minimum Typical Maximum Comment
Input impedance
(5 V/GND)
kΩ 12 — 13.1 Pull up to +5 V or pull down
to ground.
Input impedance
(2.5 V)
kΩ 6.64 — 7.02 Pull to +2.5 V.
Middle and low range DAFR
Input impedance kΩ 91 — 175 No pull up or pull down.
Input impedance
(5 V/GND)
kΩ 12.7 — 14.0 Pull up to +5 V or pull down
to ground.
Input impedance
(2.5 V)
kΩ 6.86 — 7.26 Pull to +2.5 V.
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.
Output types
•
Digital (DOUT)
•
Digital/PVG valve reference power (DOUT/PVGpwr)
•
Pulse width modulated (PWM/DOUT/PVGOUT)
Output pins available on MC0XX-1XX Controller Family
PLUS+1® module
DOUT
(3 A)
DOUT/PVGpwr
(3 A)
PWMOUT/DOUT/PVGOUT
(3 A)
MC012-110/112 2
MC024-110/112 4
MC024-120/122 8
MC050-110/112 3 3 10
MC050-120/122 6 2 6
MC050-155/15B 1 2
IOX012-110 2
IOX024-120 8
OX012-110 6
OX024-110 4 2 10
PLUS+1® modules feature user-configurable output pin parameters. Output pin parameters are
configured using PLUS+1® GUIDE templates.
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.
Avoid significant current driven back through an output pin.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 13
DOUT and DOUT/PVGpwr
Digital (DOUT) and Digital/PVG Reference Power (DOUT/PVGpwr).
Digital outputs can source up to 3 A
•
Only MC050-110, MC050-120, and OX024-110 modules have DOUT.
•
DOUT and DOUT/PVG Pwr pins are pair limited and a function of temperature.
Output per pair is: 6 A maximum at 25° C [77° F]. Output per pair is 4 A maximum at 70° C [158˚ F]
•
MC050-110 pairs are: C1p31 and C1p32, C1p33 and C1p34, C1p35 and C1p36
•
MC050-120 pairs are: C1p33 and C1p34, C1p35 and C1p36, C1p37 and C1p38, C1p39 and C1p40
•
OX024-110 pairs are: C1p6 and C1p7, C1p8 and C1p9, C1p10 and C1p11
•
Example: at a module temperature of 70˚ C [158˚ F], if C1p31 is sourcing 2.5 A, the most current that
can be sourced on its paired pin C1p32 is 1.5 A
C
Caution
Driving an inductance with higher turn off energy, than shown in the graph Single Pulse Maximum
Demagnetization Energy at 150 C on page 15, may cause damage to the device. This can be avoided by
adding an external recirculation diode or driving with a PWM output.
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
500 mA 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
Allowed voltage at pin V 0 36 See Caution statement
Output voltage, energized state V Vbatt-1.0 Vbatt Over all load conditions.
Output voltage, off state V 0 0.1 At Rload=200 Ω
Output current range for a
status bit to read OK
A 0.5 3 See note regarding pair
Do not connect a digital output to battery+ (back drive) without a series diode.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
14 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Single Pulse Maximum Demagnetization Energy at 150 C
1. The high side driver (HSD) has a built in voltage clamp for fast demagnetization of inductive loads.
2. The turn off energy is absorbed by the HSD.
3. If the turn off energy is above the HSD maximums shown in following graph, there will be two
options:
a. Use external clamping or a recirculating diode.
b. Use a PWM output that has built in recirculation/clamping.
4. Power trend lines were added to extend the graphs for inductances over 100 mH.
Emax at 13.5 V
Emax at 27 V
Power (Emax at 13.5 V)
Power (Emax at 27 V)
0.1 1 10 100 1000
E (mJ)
L (mH)
700
600
500
400
300
200
100
0
PWMOUT/DOUT/PVGOUT
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, 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. The
signal line of PVG valves can be driven with an open loop PWM. The PWM driving the control signal must
be set to 0 at the same time as the digital output driving the PVE power pin is set to 0.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
©
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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).
Proportional outputs that are used as a digital sinking output have a potential for a leakage current of up
to 5 mA when off.
PWM output are phase shifted to reduce input current ripple.
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.
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.
Avoid 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 accidentally be
exceeded in open loop mode. If
the current exceeds the trip
point, the output will be
latched off.
Output voltage, 100% duty
cycle
V 0 Vbatt-1
Output resolution of 3 A mA 0.25
Repeatability of full range % of full scale 0.5
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
16 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Specifications (continued)
Description Units Minimum Maximum Comment
Absolute accuracy of full range % of full scale 3 1% typical. Offsets removed
when command is Ø.
Output settling time ms 100 Depends on load
characteristics.
PWM frequency Hz 33 4000 Some pins have a fixed
frequency, consult module
application program interface
(API).
Dither frequency Hz 33 250 Increased in steps, see module
API.
Dither amplitude A 0 0.5 Increased in steps, see module
API.
Over-current trip point A 5 5.25 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.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Inputs/outputs types and specifications
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 17
CAN system design
All PLUS+1® modules have CAN ports that conform to CAN 2.0B specifications, including CAN shield.
CAN1 port and CAN2 port on MC050-155/15B controllers cannot be used to download PLUS+1® GUIDE
application programs.
Specifications for 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
Notes on CAN Bus installation
Total bus impedance should be 60 Ω.
The CAN transceiver will be damaged by any voltage outside of allowable range, (-27 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 following table can be used to estimate system CAN bus loading and the memory
impact of I/O modules on their associated controller.
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
default update
and 250K bus
speed)
4% 10% 11% 27% 11% 27%
Estimated
module bus
load (using 70
ms updates
and 250K bus
speed)
2% 5% 3% 8% 4% 8%
RAM usage on
MC012-XXX
9% 12% 9% 14% 9% 17%
RAM usage on
MC024-010
9% 12% 9% 14% 9% 17%
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Controller Area Network (CAN)
18 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Estimated usage of memory and communication resources (continued)
Description IX012-010 IX024-010 OX012-010 OX024-010 IOX012-010 IOX024-20
RAM usage on
MC050-010,
MC050-020
1% 1% 1% 2% 1% 2%
RAM usage on
MC050-055
1% 1% 1% 2% 1% 0%
ROM usage on
MC012-XXX
8% 11% 12% 18% 10% 19%
ROM usage on
MC024-010
8% 11% 12% 18% 10% 20%
ROM usage on
MC050-010,
MC050-020
3% 4% 4% 6% 3% 8%
ROM usage on
MC050-055
3% 4% 4% 6% 3% 8%
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Controller Area Network (CAN)
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 19
Power
Module supply voltage/maximum current ratings
PLUS+1® modules are designed to operate with a nominal 9 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 Comment
Allowed voltage at pin V 0 36
Allowed module current A 0 120
C
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.
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.
The sensor power is nominally 5 Vdc, unless otherwise noted on the product data sheet.
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 (all modules except MC050-055/05B)
Description Units Minimum Maximum Comment
Output short circuit voltage V 36
Output voltage V 4.88 5.12
Output current mA Refer to individual data sheets for
sensor power supply ratings.
Output Load Capacitance µF 10
Hold up time after power loss ms 5 15
MC0XX-1XX 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 (MC50-155/15B)
Description Units Minimum Maximum Comment
Output short circuit voltage V 36
Output voltage, sensors V 4.56 5.10 Sensor power supply drops below
minimum if controller power supply
is less than 9 Vdc.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Product ratings
20 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Specifications (MC50-155/15B) (continued)
Description Units Minimum Maximum Comment
Output voltage, DIN diagnostics V 1.58 1.71 Nominal 1.6
Output voltage, DIN diagnostics V 3.16 3.39 Nominal 3.3
PVG valve power supply ratings
DOUT/PVGpwr pins can provide the battery supply voltage required by Danfoss PVG valve electronics for
those control strategies requiring application software control of the valve power source.
When enabled, the DOUT/PVGpwr pin passes battery (reference) voltage to the PVG valve electronics.
One DOUT/PVGpwr pin can power up to 3 PVG valves. Refer to individual module API documents for PVG
power pin characteristics.
Non-volatile memory read/write ratings
FRAM memory
Write/erase cycles
Description Minimum Maximum Comment
FRAM write/erase cycles 100 trillion
Minimum valid over entire operating
temperature range.
FRAM used in the MC0XX-1XX controller, is rated for 100 trillion read/write cycles per sector. Sector size is
32 bits. When a value is written to FRAM, all 32 bits in a particular sector are always written, regardless of
the size of the saved value. If the value being saved in a sector is less than 32 bits (such as. U8, S16, BOOL,
etc) adjacent bits in the same FRAM 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 100 trillion read/
write cycles, all values in the sector may be compromised if the useful life is exceeded.
Vault memory
Some variants of PLUS+1® modules have 2 Mbyte of serial flash vault memory (also referred to as
application logging memory).
Application developers can use this memory to log machine event data and use the PLUS+1® Service Tool
to extract the logged data. As there is no real time clock on PLUS+1® modules, vault memory is not time
stamped.
Accessing non-volatile or application log memory can delay the service tool scan.
General ratings
MC controllers general ratings
Description Units Minimum Maximum
Comment
Operating temperature ˚C [˚F] -40 [-40] 70 [158] Maximum operating temperature for
MC012-026/029 modules is 105° C
(221° F).
Storage temperature ˚C [˚F] -40 [-40] 85 [185] Maximum storage temperature for
MC012-026/029 modules is 105° C
(221° F).
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Product ratings
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 21
MC controllers general ratings (continued)
Description Units Minimum Maximum
Comment
Allowable module supply
voltage
Vdc 9 36
*
Minimum allowable supply voltage
for the MC038-010 module CPU
power pin is 6 Vdc.
Module sensor supply
voltage
Vdc 4.8 5.2 Sensor voltage drops below the
minimum value if module supply
voltage < 9 Vdc. Exception for
MC050-055/05B and MC024-01A, see
Sensor power supply ratings on page
20.
Analog input voltage levels Vdc 36
*
Allowable output load
current (per pin)
A See individual module date sheets.
Module allowable total
output current
A See individual module data sheets.
All modules Ingress
Protection (IP) rating
**
IP 67
All modules CE rating CE compliant.
*
MC050-055/05B input voltage maximum is limited to 16 Vdc.
**
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.
Environmental testing criteria
Climate environment
Description Applicable standard Comment
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
Damp heat steady state and cyclic.
Degree of protection IEC 60529
Chemical environment
Description Applicable standard Comment
Salt mist IEC 60068-2-58 test Kb
Chemical resistance ISO 16750-5
Mechanical environment
Description Applicable standard Comment
Vibration IEC 60068-2-6 test Fc, IEC
6008-2-64 test Fh
Bump IEC 60068-2-29 test Eb
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Product ratings
22 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Mechanical environment (continued)
Description Applicable standard Comment
Shock IEC 60068-2-27 test Ea
Free fall IEC 60068-2-32 test Ed
Electrical/electromagnetic
Description Applicable
standard
Comment
EMC emission ISO 13766, SAE
J1113-13
Electromagnetic compatibility for earth moving
machinery.
EMC immunity 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® modules housing features a snap together assembly that is tamper-proof. Once assembled at
the factory, the housing cannot be opened for service.
C
Caution
Warranty will be voided if device is opened.
Device is not field serviceable. Do not open the device.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Product ratings
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 23
Connectors
PLUS+1® modules use DEUTSCH connectors. Danfoss assembles mating connector kits, referred to as a
bag assembly.
Mating connector bag assembly ordering information is found in module product data sheets.
DEUTSCH mating connector part information
Description 12 pin module 24 pin module 50 pin module
Crimp tool HDT48-00 (solid contacts)
(20 to 24 AWG)
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)
DTT20-00 (stamped
contacts)
(16 to 20 AWG)
Contacts Solid: 0462-201-2031
(20 to 24 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)
Stamped: 1062-20-0144
(16 to 20 AWG)
Connector plug Gray A-Key
DTM 06-125A
Gray A-Key
DTM 06-12SA
Black B-Key
DTM 06-12SBA
DRC26-50S01
Wedge WM-12S 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]
3.96 to 5.54 mm
[0.156 to 0.218 in]
Real seal maximum
insulation OD
3.05 mm [0.120 in] 3.05 mm [0.120 in] 2.41 mm [0.095 in]
Sealing plugs 0413-204-2005 0413-204-2005 0413-204-2005
Danfoss mating connector part information
Description 12 pin module 24 pin module 50 pin module
Mating connector bag
assembly (20 to 24 AWG)
10100944 10100945 10100946
Mating connector bag
assembly (16 to 20 AWG)
10102025 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
Mounting
PLUS+1® MC0XX-1XX 12, 24, and 50 pin modules can be mounted in one of three ways:
•
End (bulkhead) installation
•
Up to 3 units stacked on one another
•
Individually side mounted
Care must be taken to insure that the module connector is positioned so that moisture drains away from
the connector.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Product installation and start-up
24 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
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.
Fasteners
Recommended outer diameter (OD) Recommended torque
6.0 mm (0.25 in) 2.26 N•m (20 in•lbs)
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.
Machine wiring guidelines
W
Warning
Unintended movement of the machine or mechanism may cause injury to the technician or bystanders.
Improperly protected power input lines against over current conditions may cause damage to the
hardware. Properly protect all power input lines against over-current conditions. To protect against
unintended movement, secure the machine.
C
Caution
Unused pins on mating connectors may cause intermittent product performance or premature failure.
Plug all pins on mating connectors.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Product installation and start-up
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 25
•
Protect wires from mechanical abuse, run wires in flexible metal or plastic conduits.
•
Use 85˚ C (185˚ F) wire with abrasion resistant insulation and 105˚ C (221˚ F) wire should be
considered near hot surfaces.
•
Use a wire size that is appropriate for the module connector.
•
Separate high current wires such as solenoids, lights, alternators or fuel pumps from sensor and other
noise-sensitive input wires.
•
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.
•
Do not run wires near sharp metal corners, consider running wires through a grommet when
rounding a corner.
•
Do not run wires near hot machine members.
•
Provide strain relief for all wires.
•
Avoid running wires near moving or vibrating components.
•
Avoid long, unsupported wire spans.
•
Ground electronic modules to a dedicated conductor of sufficient size that is connected to the
battery (-).
•
Power the sensors and valve drive circuits by their dedicated wired power sources and ground
returns.
•
Twist sensor lines about one turn every 10 cm (4 in).
•
Use wire harness anchors that will allow wires to float with respect to the machine rather than rigid
anchors.
Machine welding guidelines
W
Warning
High voltage from power and signal cables may cause fire or electrical shock, and cause an explosion if
flammable gasses or chemicals are present.
Disconnect all power and signal cables connected to the electronic component before performing any
electrical welding on a machine.
The following is recommended when welding on a machine equipped with electronic components:
•
Turn the engine off.
•
Remove electronic components from the machine before any arc welding.
•
Disconnect the negative battery cable from the battery.
•
Do not use electrical 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® CG150-2 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, AQ00000026, for gateway set-up information. Refer to
the CG150-2 USB/CAN Gateway Data Sheet, AI00000190, for electrical specifications and connector pin
details.
Technical Information
PLUS+1® MC0XX-1XX Controller Family
Product installation and start-up
26 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Technical Information
PLUS+1® MC0XX-1XX Controller Family
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 27
Technical Information
PLUS+1® MC0XX-1XX Controller Family
28 | © Danfoss | April 2018 L1321895 | BC00000227en-US0401
Technical Information
PLUS+1® MC0XX-1XX Controller Family
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401 | 29
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.
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.
Go to www.powersolutions.danfoss.com for further product information.
Wherever off-highway vehicles are at work, so is Danfoss. 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 comprehensive global
service for all of our components.
Please contact the Danfoss Power Solution representative nearest you.
Local address:
Danfoss
Power Solutions GmbH & Co. OHG
Krokamp 35
D-24539 Neumünster, Germany
Phone: +49 4321 871 0
Danfoss
Power Solutions ApS
Nordborgvej 81
DK-6430 Nordborg, Denmark
Phone: +45 7488 2222
Danfoss
Power Solutions (US) Company
2800 East 13th Street
Ames, IA 50010, USA
Phone: +1 515 239 6000
Danfoss
Power Solutions Trading
(Shanghai) Co., Ltd.
Building #22, No. 1000 Jin Hai Rd
Jin Qiao, Pudong New District
Shanghai, China 201206
Phone: +86 21 3418 5200
Danfoss can accept no responsibility for possible errors in catalogs, 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.
All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.
©
Danfoss | April 2018 L1321895 | BC00000227en-US0401
Products we offer:
•
Bent Axis Motors
•
Closed Circuit Axial Piston
Pumps and Motors
•
Displays
•
Electrohydraulic Power
Steering
•
Electrohydraulics
•
Hydraulic Power Steering
•
Integrated Systems
•
Joysticks and Control
Handles
•
Microcontrollers and
Software
•
Open Circuit Axial Piston
Pumps
•
Orbital Motors
•
PLUS+1® GUIDE
•
Proportional Valves
•
Sensors
•
Steering
•
Transit Mixer Drives
Comatrol
www.comatrol.com
Turolla
www.turollaocg.com
Hydro-Gear
www.hydro-gear.com
Daikin-Sauer-Danfoss
www.daikin-sauer-danfoss.com
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