Data Sheet
PLUS+1® XM100 Autonomous Controller
Powerful data processing
The XM100 Autonomous Controller provides the high
processing power required for state-of-the-art
autonomous mobile machines. This controller is
designed to meet the needs of autonomous machines
by interfacing with GNSS, LiDAR, Radar and inertial
sensors and performing autonomous navigation
tasks. Ethernet and CAN connectivity allow the
controller to manage complex tasks and command
machine sub-systems, such as propel, steering and
work function.
Product highlights
The controller includes a powerful quad-core i.MX 6
platform with a Linux OS operating at 1.0 GHz. It has
8GB of flash and 2GB of DDR3 RAM to execute large,
complex autonomous applications. This central
processing unit delivers the power that will drive the
future of your autonomous machine development.
Application development
Users develop applications with PLUS+1® platform
that enables novice programmers to quickly develop
advanced applications. The PLUS+1® Autonomous
Control Library works seamlessly with the controller
to enable autonomous machine functionality. PLUS
+1® GUIDE is a Microsoft® Windows® based
development environment and features a userfriendly, field-proven, graphical programming tool,
application downloader, and service/diagnostic tool.
Features
•
Programmable with PLUS+1® GUIDE
•
2 x 12-pin DEUTSCH DTP connectors
•
Processor: i.MX 6 QuadPlus, 1.0 GHZ
•
8 GB flash, 2 GB DDR3 RAM
•
4 CAN ports
•
4-wire Ethernet port (10/100)
•
Audio out
•
2 RGB LEDs
•
6-Axis Inertial Measurement Unit
•
GNSS Receiver position accuracy 1.5m
CEP50
•
5 Vdc sensor supply output
•
9 to 36 Vdc power supply, monitored
internally
•
Wake over digital input
Comprehensive technical literature is
online at www.danfoss.com
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Danfoss | November 2021 AI379058006235en-000103 | 1
16.7 [0.7]
38.1 [1.5]
45 [1.8]
RGB LED
RGB LED
288.7 [11.4]
268 [10.6]
181 [7.1]
160 [6.3]
Pin 1
Pin 6
4x Ø 9.2 [0.4]
2x Ø 8 [0.3]
15 [0.6]
4x Ø 18 [0.7]
Mounting screw max. flange
C1
C2
C8
C4
Sealing plugs
*Do not remove
C9
C5
1
12 7
6
1
12
7
6
C3
Data Sheet
XM100 Autonomous Controller
8 inputs
•
4 universal (DIN/AIN/FreqIn/Rheo/4-20 mA) that are user-defined as either:
Analog: with configurable ranges 0 to 5.25 Vdc (with over range protection) or 0 to 36 Vdc;
‒
Digital: pull up (5 Vdc), pull down (0 Vdc), or pull to center (2.5 Vdc);
‒
Frequency: (timing) 1 Hz to 10 kHz
‒
Rheostat: (Resistance) from 0 to 1000 Ohm
‒
Current: 4 to 20 mA
‒
•
2 digital/analog (DIN/AIN) that are user-defined as either:
Analog: 0 to 5.25 Vdc or 0 to 36 Vdc
‒
Digital: pull up (5 Vdc), pull down (0 Vdc), or pull to center (2.5 Vdc);
‒
•
Ignition Input (K15)
•
Wake Input (DigIn)
5 outputs
•
4 digital (Sinking DOUT) 500 mA
•
Sensor Supply (+5 Vdc)
Technical Specifications
Processor i.MX6
Supply Voltage 9-36 Vdc
Connector DEUTSCH DTM06-12SA
IP Rating IP66 and IP67 front and back
Operating Temperature -30°C to +70°C [-22°F to 158°F]
Storage Temperature -40°C to +85°C [-40°F to 185°F]
Vibration/Shock IEC 60068-2-64 (7.67g) /2-27 (50g)
EMI/RFI Rating 100 V/m
Humidity IEC 60068-2-78, 60068-2-30
Transients ISO 7637/1, 2, 3
Certifications FCC, IC, RCM, RoHS
Pin locations and controller dimensions
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Pin 7
Pin 12
Pin 6Pin 1
Pin 7
Pin 12
Pin 6Pin 1
Data Sheet
XM100 Autonomous Controller
C1 - DEUTSCH DTM06-12SA, 12 pin
C1 pin Function
1 Power ground 2 Power supply +
3 CAN 0+
4 CAN 05 Anin / CAN shield
6 CAN 1+
7 CAN 18 Sensor supply out (+5 V)
9 K15 ignition input (digital input)
10 Multifunction input (Digin/Anin/
Freq/4-20mA/Rheostat)
11 Multifunction input (Digin/Anin/
Freq/4-20mA/Rheostat)
12 Digital out (0.5A sinking)
C2 - DEUTSCH DTM06-12SB, 12 pin, "B" key
C3 - M12 4 pin, USB device, "A" key
C3 Pin Function
1 Device data +
2 Device data 3 Device Vbus
4 Ground
C4 - M12 4 pin, USB host, "B" key
C4 Pin Function
1 Host data +
2 Host data 3 Host Vbus
4 Ground
C5 – GNSS antenna SMA coaxial
C2 pin Function
1 Sensor ground
2 Digital out (0.5A sinking)
3 CAN 2+
4 CAN 25 Anin / CAN shield
6 CAN 3+
7 CAN 38 Multifunction input (Digin/Anin/
Freq/4-20mA/Rheostat)
9 Multifunction input (Digin/Anin/
Freq/4-20mA/Rheostat)
10 Wake input (digital input)
11 Digital out (0.5A sinking)
12 Digital out (0.5A sinking)
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Antenna must be installed properly to the machine to avoid
interference and to ensure the line of sight to the sky.
Pin Function
Threads Ground
Pin Signal
C8 - M12 4 pin female, Ethernet, "A" key
C8 Pin Function
1 TxD+
2 RxD+
3 TxD4 RxD-
C9 - M12 8 pin female, Stereo, "A" key
C9 Pin Function
1 TxD
2 RxD
3 Ground
4 NC
5 Left channel
6 Right channel
7 Ground
8 NC
Software
11179523 (renew annually with
11179524 to keep software
updates)
70405444 PLUS+1® Autonomous Control
PLUS+1® GUIDE Professional
Software (includes 1 year of
software updates, a single user
license, Service and Diagnostic tool
and Screen Editor)
Library (ACL)
Product part number
11283139 XM100 Autonomous Controller
Related products part numbers
Connector kit
10100944 DEUTSCH 12-pin Connector Kit (DTM06-12SA)
Connection tools
10100744 DEUTSCH stamped contacts terminal crimp tool, size
20
10100745 DEUTSCH solid contacts terminal crimp tool
Cable kit
11231512 Cable, M12 4-pin to USB device (2m)
11130713 Cable, M12 8-Pin to Lead Wires (1.5m)
11130712 Cable, M12 5-Pin to Lead Wires (1.5m)
Antenna
11283266 External GNSS Antenna (5m)
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 subsequent 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.
4 | © Danfoss | November 2021 AI379058006235en-000103
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