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Danfoss XM100 User guide

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Technical Information
PLUS+1®
XM100 Autonomous Controller
Technical Information
Revision history Table of revisions
Date Changed Rev
November 2021 Corrected feature data 0102
October 2021 First edition 0101
www.danfoss.com
2 | © Danfoss | November 2021 BC394784770000en-000102
Technical Information

Contents

XM100 literature references
Technical Information (TI)............................................................................................................................................................. 4
Data Sheet (DS)................................................................................................................................................................................. 4
PLUS+1® GUIDE User Manual....................................................................................................................................................... 4
Latest version of technical literature.........................................................................................................................................4
User liability and safety statements
OEM responsibility........................................................................................................................................................................... 5
Safety statements.............................................................................................................................................................................5
Machine wiring guidelines...................................................................................................................................................... 5
Machine welding guidelines...................................................................................................................................................6
Overview
XM100 Autonomous Controller description.......................................................................................................................... 7
XM100 Features................................................................................................................................................................................ 7
PLUS+1® GUIDE..................................................................................................................................................................................7
XM100 Related products part numbers...................................................................................................................................8
XM100 inputs and outputs........................................................................................................................................................... 8
Input types..........................................................................................................................................................................................9
XM100 Technical Information......................................................................................................................................................9
Input/output types and specifications
Digital/analog..................................................................................................................................................................................10
Multifunction inputs..................................................................................................................................................................... 10
Audio outputs................................................................................................................................................................................. 12
Ethernet.............................................................................................................................................................................................12
Inertial measurement unit..........................................................................................................................................................12
CAN shield and analog input.....................................................................................................................................................13
Digital output.................................................................................................................................................................................. 13
USB communication..................................................................................................................................................................... 14
RS232 communication.................................................................................................................................................................14
Sensor output..................................................................................................................................................................................14
Product ratings
XM100 environmental testing criteria....................................................................................................................................15
Supply voltage/maximum current ratings........................................................................................................................... 15
Installation
XM100 Autonomous Controller dimensions....................................................................................................................... 16
Pin assignments C1—C9
XM100 pin information................................................................................................................................................................18
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Technical Information

XM100 literature references

Reference literature
Literature title Literature type Literature number
XM100 Series PLUS+1 XM100 Series PLUS+1 PLUS+1® GUIDE Software User Manual AQ152886483724

Technical Information (TI)

A TI is comprehensive information for engineering and service personnel to reference.

Data Sheet (DS)

A DS is summarized information and parameters that are unique to a specific model.

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
•
®
®
Technical Information BC313277849405 Data Sheet AI304864913574

Latest version of technical literature

Comprehensive technical literature is online at www.danfoss.com
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Technical Information

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.

Safety statements

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.
Warning
At high ambient temperatures the metal housing can become hotter than 70℃. Please use caution when touching the metal housing of the display
Caution
Unused pins on mating connectors may cause intermittent product performance or premature failure. Be sure to plug all pins on mating connectors.

Machine wiring guidelines

•
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 (-).
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Technical Information
User liability and safety statements
•
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

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.
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Technical Information

Overview

XM100 Autonomous Controller description

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 is designed to work seamlessly with the vehicle control unit to enable autonomous machine functionality. PLUS+1® GUIDE is a Microsoft Windows® based development environment and features a user-friendly, field proven, icon-based graphical programming tool, application downloader, and service/diagnostic tool.
®

XM100 Features

PLUS+1® GUIDE

•
Programmable with PLUS+1® GUIDE
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2 x 12-pin DEUTSCH DTP connectors
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Processor: i.MX 6 QuadPlus, 1.0 GHZ
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8 GB flash, 2 GB DDR3 RAM
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4 CAN ports
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4-wire Ethernet port (10/100)
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Audio out
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2 RGB LEDs
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6-Axis Inertial Measurement Unit
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GNSS Receiver position accuracy 1.5m CEP50
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5 Vdc sensor supply output
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9 to 36 Vdc power supply, monitored internally
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Wake over digital input
Comprehensive technical literature is online at www.danfoss.com
PLUS+1® GUIDE (Graphical User Integrated Development Environment) is a complete toolbox that generates downloadable applications for all programmable PLUS+1® Compliant products.
Caution
Unwanted system failure may occur. Refer to PLUS+1® GUIDE Software User Manual, AQ152886483724 for best programming practices.
https://www.danfoss.com/en/products/software/dps/plus1-software/plus1-guide/#tab-overview
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Technical Information
Overview

XM100 Related products part numbers

Product part number
11283139
Related products part numbers
Connector kit
10100944
Connection tools
10100744 10100745
Cable kit
11231512 11130713 11130712
Antenna
11283266
Software
11179523 (renew annually with 11179524 to keep software updates)
70405444
XM100 Autonomous Controller
DEUTSCH 12-pin Connector Kit (DTM06-12SA)
DEUTSCH stamped contacts terminal crimp tool, size 20
DEUTSCH solid contacts terminal crimp tool
Cable, M12 4-pin to USB device (2m)
Cable, M12 8-Pin to Lead Wires (1.5m)
Cable, M12 5-Pin to Lead Wires (1.5m)
External GNSS Antenna (5m)
PLUS+1® GUIDE Professional Software (includes 1 year of software updates, a single user license, Service and Diagnostic tool and Screen Editor)
PLUS+1® Autonomous Control Library (ACL)

XM100 inputs and outputs

8 inputs
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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
‒
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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);
‒
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Ignition Input (K15)
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Wake Input (DigIn)
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Technical Information
Overview
5 outputs
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4 digital (Sinking DOUT) 500 mA
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Sensor Supply (+5 Vdc)

Input types

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.
When using inputs in digital mode, it is advised to use the software selectable pull-up or pull-down resistors.

XM100 Technical Information

Processor Supply Voltage Connector IP Rating Operating Temperature Storage Temperature Vibration/Shock EMI/RFI Rating Humidity Transients Certifications
i.MX6
9-36 Vdc
DEUTSCH DTM06-12SA
IP66 and IP67 front and back
-30°C to +70°C [-22°F to 158°F]
-40°C to +85°C [-40°F to 185°F]
IEC 60068-2-64 (7.67g) /2-27 (50g)
100 V/m
IEC 60068-2-78, 60068-2-30
ISO 7637/1, 2, 3
FCC, IC, RCM, RoHS
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Technical Information

Input/output types and specifications

Digital/analog

Digital inputs
Description Values Unit Notes
General:
Input voltage range 0 36 V Maximum Voltage at pin. Rising Threshold Voltage 3.91 V Falling Threshold Voltage 0.85 V Input Impedance 14.8 15 15.2 kΩ
Digital / Analog
Description Values Unit Notes
Input voltage range 0 36 V Maximum Voltage at pin. Low level digital input V Level adjustable in software High level digital input V
Time to change state in response to step input --- ms Depends on application (OS.ExecTime) Minimum discernable voltage 0.03 V Maximum discernable voltage 5.64 5.78 5.92 V Resolution 1.4 mV Worst case offset and gain error ±0.14 V @ V Non-linearity ±8.5 mV Input Impedance 230 233 236 kΩ This input can also be used as a CAN shield. It provides a 0.68uF capacitor to ground through a 1 ohm resistor.
Min. Typ. Max.
Min. Typ. Max.
Level adjustable in software Voltage >= V Digital Input = True
Measure
inhigh
= 5.78V

Multifunction inputs

Digital / Analog / Frequency / Rheostat / Current inputs
Description Values Unit. Notes.
Min. Typ. Max.
General:
Input voltage range 0 36 V Maximum Voltage at pin Frequency range 0 10,000 Hz Quad count or Phase shift 0 5,000 Hz Low level digital input V Level adjustable in software High level digital input V
Time to change state in response to step input
Low Range:
Minimum discernable voltage
Maximum discernable voltage
379 404 430 mV
--- ms Depends on application
13 mV
Level adjustable in software Voltage >= V Digital Input = True
(OS.ExecTime)
inhigh
,
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Technical Information
Input/output types and specifications
Digital / Analog / Frequency / Rheostat / Current inputs (continued)
Description Values Unit. Notes.
Resolution 0.1 mV Worst case offset and gain
error Non-linearity ±26 mV Rising Voltage Threshold 314 mV Voltage required for
Falling Voltage Threshold 55 mV Voltage required for
Input Impedance 232 233 234 kΩ No pull up or pull down Input Impedance (5V/GND) 13.9 14.1 14.3 kΩ Pull up or pull down Input Impedance (2.5V) 7.1 7.3 7.4 kΩ Pull up and pull down
Middle Range:
Minimum discernable voltage
Maximum discernable voltage
Resolution 1.4 mV Worst case offset and gain
error Non-linearity ±8.5 mV Rising Voltage Threshold 4.25 V Voltage required for
Falling Voltage Threshold 0.97 V Voltage required for
Input Impedance 232 233 234 kΩ No pull up or pull down Input Impedance (5V/GND) 13.9 14.1 14.3 kΩ Pull up or pull down Input Impedance (2.5V) 7.1 7.3 7.4 kΩ Pull up and pull down
High Range:
Minimum discernable voltage
Maximum discernable voltage
Resolution 9.5 mV Worst case offset and gain
error Non-linearity ±56.8 mV Rising Voltage Threshold 28.71 V Voltage required for
Falling Voltage Threshold 6.47 V Voltage required for
Input Impedance 109.1 109.3 109.5 kΩ No pull up or pull down (V
Input Impedance (5V/GND) 13.0 13.2 13.4 kΩ Pull up or pull down (Vin <
Input Impedance (2.5V) 6.9 7.0 7.1 kΩ Pull up and pull down (V
Input Impedance (Vin >
5.7V)
Min. Typ. Max.
±0.6 mV @ V
0.03 V
5.69 5.78 5.88 V
±0.14 V @ V
0.16 V
37.9 38.8 39.7 V
±0.95 V @ V
= 404mV
Measure
frequency input
frequency input
= 5.78V
Measure
frequency input
frequency input
= 38.8V
Measure
frequency input
frequency input
< 5.7V)
5.7V)
5.7V) See chart below
in
<
in
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Technical Information
Input/output types and specifications

Audio outputs

Audio outputs
Symbol Description Unit Minimum Typical Maximum Comment
Output Power mW 62.5 @1kHz
Right and left channel included - Stereo output

Ethernet

Ethernet
Symbol Description Unit Minimum Typical Maximum Comment
Available Baud Rates bps
Max Input Voltage Range
10M 100M
V -25 25 Receiver
10M is default
Input

Inertial measurement unit

Inertial measurement unit
Description Range Accuracy percentage over full
Min. Max.
Accelerometer ±2g: 16384 LSB/g ±16 g:2048 LSB/g ±0.4% Gyroscope ±125 dps: 262.1
LSB/dps
±2000 dps: 16.4 LSB/dps
range
±0.4% (with CRT)
For a directional drawing, please see XM100 Autonomous Controller dimensions on page 16.
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Technical Information
Input/output types and specifications

CAN shield and analog input

CAN ports
Description Unit Minimum Typical Maximum Comment
Available Baud Rates kbps
Max Input Voltage Range V -27 40 CAN HI & CAN LO

Digital output

500 mA Low-side DOUT (DOUT14)
Description Unit Minimum Typical Maximum Comment
Output Voltage V 0 V Output Current mA 500
50 100 125 250 500 1000
Battery
Default value
I
= 500mA
out
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Technical Information
Input/output types and specifications

USB communication

USB port
Description Unit Minimum Typical Maximum Comment
Available Baud Rates Mbps 12 480 USB 2.0 supported Max Input Voltage Range V -0.3 7.3 Vbus Voltage 4.4 5 5.25 Vbus Current mA 250

RS232 communication

RS232 Port
Description Unit Minimum Typical Maximum Comment
Available Baud Rates bps
Max Input Voltage Range V
9600 11400 19200 28800 38400 57600 115200
-25
-13.2
25
13.2
19200 is default
Receiver Input Transmitter Output

Sensor output

Sensor supply output 5V / 100mA
Description Unit Minimum Typical Maximum Comment
Sensor Output Voltage V 4.85 5 5.15 Sensor Output Current mA 100
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Technical Information

Product ratings

XM100 environmental testing criteria

Mechanical environment
Description Applicable standard Comment
Vibration IEC 60068-2-64 test Fh 3.17g Bump IEC 60068-2-27 test Eb Shock IEC 60068-2-27 test Ea 50g Free fall IEC 60068-2-31 test Ed

Supply voltage/maximum current ratings

XM100 Autonomous Controllers are designed to operate with a nominal 9 to 36 Vdc power supply with reverse polarity protection.
Battery power input
Description Unit Minimum Typical Maximum Comment
Operating temperature °C -30 — +70 Storage temperature °C -40 — +85
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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
Technical Information

Installation

XM100 Autonomous Controller dimensions

Pin locations and controller dimensions
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Technical Information
Installation
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Pin 7
Pin 12
Pin 6Pin 1
Pin 7
Pin 12
Pin 6Pin 1
Technical Information

Pin assignments C1—C9

Connectors & mates
Connector Numbers
C1 Deutsch DTM04-12PA Deutsch DT06-12SA Main 7.5A 16 AWG C2 Deutsch DTM04-12PB Deutsch DT06-12SB Main 7.5A 16 AWG C3 Phoenix M12 1552214 Phoenix 1406130 USB Host 24 AWG C4 Phoenix M12 1439939 Phoenix 1406189 USB Device 24 AWG C5 Phoenix M12 1551451 Phoenix 1406131 Ethernet 24 AWG C6 Phoenix M12 1551422 Phoenix 1406073 RS232 and Audio 24 AWG

XM100 pin information

C1 - DEUTSCH DTM06-12SA, 12 pin
Description Mate Function Rating Max Wire
Size
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
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 3-
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Technical Information
Pin assignments C1—C9
C2 pin Function
8 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)
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
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
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Technical Information
Pin assignments C1—C9
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
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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 2080 6201
Products we offer:
Hydro-Gear
www.hydro-gear.com
Daikin-Sauer-Danfoss
www.daikin-sauer-danfoss.com
Cartridge valves
•
DCV directional control
•
valves Electric converters
•
Electric machines
•
Electric motors
•
Gear motors
•
Gear pumps
•
Hydraulic integrated
•
circuits (HICs) Hydrostatic motors
•
Hydrostatic pumps
•
Orbital motors
•
PLUS+1® controllers
•
PLUS+1® displays
•
PLUS+1® joysticks and
•
pedals PLUS+1® operator
•
interfaces PLUS+1® sensors
•
PLUS+1® software
•
PLUS+1® software services,
•
support and training Position controls and
•
sensors PVG proportional valves
•
Steering components and
•
systems Telematics
•
Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and electric 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 as well as the marine sector. Building on our extensive applications expertise, we work closely with you to ensure exceptional performance for a broad range of applications. We help you and other customers around the world speed up system development, reduce costs and bring vehicles and vessels to market faster.
Danfoss Power Solutions – your strongest partner in mobile hydraulics and mobile electrification.
Go to www.danfoss.com for further product information.
We offer you expert worldwide support for ensuring the best possible solutions for outstanding performance. And with an extensive network of Global Service Partners, we also provide you with comprehensive global service for all of our components.
Local address:
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.
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