Epec 2024, 2020 Technical Document

© Epec Oy

Epec 2024 Control Module

Technical Document

Epec CAN Module Family

2024 CONTROL MODULE

2 / 34

07.10.2010

2024G08,G18 / MAN000185

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

DOCUMENT VERSION HISTORY

Date Notes

07.10.2010 Updated sections 2.1.2 Codesys 2.3, 6.1 Protection and 7.1 Mounting.

02.12.2009

Sections 3.8 Specification for Internal Diagnostics, 3.9 Closed Loops

Wiring, 3.10 I/O / IEC Map, 4.2 Power Consumption and 4.3 Power
Supply Pins updated.

01.10.2008 Document and layout updated

16.08.2006 First released version

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FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

TABLE OF CONTENTS

1 GENERAL ............................................................................................................................. 4

1.1 Purpose of This Document ........................................................................................ 4

1.2 About Manufacturer ................................................................................................... 4

1.3 Epec CAN Module Family ......................................................................................... 4

1.4 Basic Skills Required ................................................................................................. 4

1.5 Safety Guidelines ...................................................................................................... 4

1.6 Warranty .................................................................................................................... 5

1.7 Limited Liability .......................................................................................................... 6

1.8 Environmental Statement .......................................................................................... 6

2 I/O MODULE GENERAL DESCRIPTION ............................................................................. 7

2.1 Programming Environment ........................................................................................ 7

2.1.1 Codesys 2.1 .................................................................................................... 8

2.1.2 Codesys 2.3 .................................................................................................... 8

2.2 CANopen Indexes ..................................................................................................... 8

3 INPUT / OUTPUT SPECIFICATIONS ................................................................................... 9

3.1 Configurable I/Os ....................................................................................................... 9

3.2 Digital Input .............................................................................................................. 10

3.3 Current Measuring Feedback .................................................................................. 11

3.4 Digital Input / PWM Output / Digital Output ............................................................. 12

3.5 Digital Input / Analog Input ...................................................................................... 15

3.6 Digital Input / Digital Output (sinking) ...................................................................... 17

3.7 Digital Input / Pulse Input ......................................................................................... 19

3.8 Specification for Internal Diagnostics ...................................................................... 21

3.9 Closed Loops Wiring ............................................................................................... 21

3.10 I/O / IEC Map ........................................................................................................... 22

3.11 AMPSEAL Connectors ............................................................................................ 23

3.12 AMPSEAL Cable Dimensions ................................................................................. 23

4 POWER SUPPLY ................................................................................................................ 24

4.1 Overvoltage Protection ............................................................................................ 24

4.2 Power Consumption ................................................................................................ 24

4.3 Power Supply Pins .................................................................................................. 24

5 BUS CONNECTION ............................................................................................................ 25

5.1 Bus Connection Pins ............................................................................................... 25

5.2 CAN Interface .......................................................................................................... 25

6 ENVIRONMENTAL CHARACTERS ................................................................................... 26

6.1 Protection ................................................................................................................. 26

6.2 EMC Tests ............................................................................................................... 26

6.3 Environmental Tests ................................................................................................ 31

7 HOUSING ............................................................................................................................ 32

7.1 Mounting .................................................................................................................. 32

7.2 Unit Dimensions ...................................................................................................... 33

8 ADDITIONAL DOCUMENTS .............................................................................................. 34

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FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

1 GENERAL

1.1 Purpose of This Document

This technical document is meant to be used in system development. This document contains
necessary data concerning the module in question, which system designer needs in system
development work.

Copying of this document without permission is prohibited. All trademarks mentioned in this
document are owned by their manufacturers.

1.2 About Manufacturer

Epec Oy helps its customers to manufacture efficient, safe and environmental friendly mobile
working machines and special vehicles which help their customers to maximise their
productivity.

Epec is a solution provider specialized in embedded control systems, vehicle computers and
information logistics systems for mobile machines. We believe that we know control systems for
challenging conditions and we are able to offer a total solution from control units to project
services and designing.

1.3 Epec CAN Module Family

Epec CAN Module Family is designed to operate in extreme environments, where vibration,
wide temperature changes and moisture are normal conditions. The requirements for the
system’s reliability and safety have been the key words in module family development. A small
and protective module casing keeps inside high performance microcontroller with lots of control
capabilities.

1.4 Basic Skills Required

The user of this document must have professional skills on machine controlling, CAN
communication, PLCopen programming according to IEC61131-1 and should have skills to use
CoDeSys 2.1/2.3 programming environment.

Please refer CoDeSys 2.1/2.3 manual for further information on programming environment and
required installations.

Please refer CAN and CANopen documentation from CAN in Automation (CiA) for further
information on communication issues.

1.5 Safety Guidelines

The user of this documentation should follow general machine safety guidelines, directives and
regulation appropriate to his/her country or market area.

This product does not comply with SIL2 or SIL3 classifications and should not be used in such
applications, e.g. lifting people, where SIL 2 or SIL3 are required by directives or other
regulations.

A separate safety analysis is always recommended for the machine and its control system. The
features of this product should be well documented in machine and control system documents

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FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

so that the machine operator has the right information how to operate the machine correctly and
safely.

This product is designed to be used only for machine controlling purposes. The manufacturer
does not assume any responsibility for this product being fit for any particular application, unless
otherwise expressly stated in writing by the manufacturer.

This product complies with those certifications and standards that are listed below. The
manufacturer does not guarantee that this product complies any other certification, standard or
test than listed below.

This product is not field serviceable, so it should not be opened at any situation.

An external fuse should be installed for the product or the system power supply.

The system should be designed and constructed according to the Epec general mounting and
cabling instruction document.

Epec Oy reserves a right to improve its products without a further notice.

1.6 Warranty

The manufacturer does not assume any responsibility for the products being fit for any particular
purpose, unless otherwise expressly stated in writing by the manufacturer.

The manufacturer gives the warranty of twelve (12) months to the products and thereto related
firmware from commissioning or eighteen (18) months from the date of delivery of the products
which ever occurs first

The manufacturer is during the warranty period responsible for defects in the products and
thereto related firmware resulting from faults in material, design or workmanship. The
manufacturer’s only obligation under this warranty is to, at its sole discretion, either to replace
the products and/or thereto related firmware or to repair the defective products. The
manufacturer shall, at its sole option, repair the products at its manufactory in Seinäjoki,
Finland.

The warranty does not cover any costs related to removing or fastening of devices related to the
products. Neither does the warranty cover the expenses of sending devices to or from the
manufacturer for repairs. The warranty does not cover possible expenses relating to travelling,
accommodation, daily benefits, etc. of installers.

The warranty becomes null and void if the buyer and/or a third party alters the products or the
firmware in any way or if they are not used in accordance with the Manufacturer’s operating
instructions.

All claims with respect to defects in the products shall be made to the manufacturer without
delay and no later than on the seventh (7th) day after the defect has been or should have been
discovered by the buyer. The manufacturer strives to reply to the claim in writing within two (2)
weeks from the receipt of the claim. The buyer shall attach to the claim a possible error report or
equivalent explanation of the grounds for the claim.

The manufacturer gives no other warranties whatsoever for the products than the warranty set
out in this section and thus the warranty given in this section sets forth the warranty given by the
manufacturer in its entirety.

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Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

1.7 Limited Liability

The manufacturer shall under no circumstances be liable for loss of production, loss of profit,
loss of use or any other consequential damages and/or indirect losses, whatever their cause
may be. In case claims based on product liability are brought against the Manufacturer for which
claims the manufacturer may be liable, the manufacturer’s liability is limited to the extent
normally covered under normal product liability insurances.

The buyer shall compensate the manufacturer to the extent that the manufacturer might be
liable to pay damages as a result of claims based on product liability according to paragraph
above.

1.8 Environmental Statement

The manufacturer uses ISO14001 environmental certified processes and materials to
manufacture products. The manufacturer undertakes to arrange for the recycling and scrapping
of the products that are returned to the manufacturer by the buyer and/or the products that are
received by the Manufacturer in connection with maintenance services performed as a result of
that repairing of the products is deemed by the manufacturer to be inappropriate.

The manufacturer will charge a scrapping fee from the buyer according to the manufacturer's
price list in force from time to time. No scrapping fee will, however, be charged for products that
are received by the manufacturer during the warranty period.

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FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

2 I/O MODULE GENERAL DESCRIPTION

I/O Module is part of the Epec CAN Module Family. I/O Module has large amount of digital and
analog inputs and digital outputs. Digital outputs can be configured to be used as digital inputs
and vice versa. Module is used in a CAN control module system as a multifunction controller
with different kinds of sensors and actuators, such as proportional valves, servo motors, and
electro-hydraulic components. This PLCopen programmable (with CoDeSys tool) module can
also be used as an independent controller because of digital and analog I/O capabilities. I/O
Module has two CAN-busses.

Features

Applications

• ISO High Speed CAN1 interface

•

Forest Machines

• Road Maintenance

• Construction Machines

• Crushing Stations

• Industrial Machines

• Agricultural applications

• Automation applications

• Mining Machines

• ISO High Speed CAN2 interface

• Operating voltage 10 - 30 VDC

• Recommended operating voltage 24 VDC

• Overvoltage protection

• Overheating and short-circuit protection for

outputs

• Short-circuit protection for outputs

• Gold plated, locked and sealed connectors:

8-pin AMPSEAL for module connection
3 x 23-pin AMPSEAL for I/O

• Small outline dimensions: 147 x 113 x 46

• Weight 0,7 kg

Monitoring Functions

Following issues can be monitored by the application

• Supply voltage

• Firmware/application code corruption

• Module temperature

Software deadlock is monitored by the hardware watchdog that reboots the module
automatically after 300 ms software deadlock.

2.1 Programming Environment

This product can be programmed with either CoDeSys 2.1 or CoDeSys 2.3 depending on the
module’s firmware. If the firmware’s runtime is older than 2.1x, the programming environment is
CoDeSys 2.1 and if the runtime is 2.3.x or newer the programming environment is CoDeSys

2.3.

The runtime version can be checked from index with a CANopen tool, for example with
CANmoon.

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Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

2.1.1 Codesys 2.1

• Flash

• 248 x 16-bit flash saved parameters (Runtime older than 2.15)

• 756 x 16-bit flash saved parameters (Runtime 2.15 or newer)

• CAN buses

• Supported baud rates 20, 50, 100, 125, 250, 500 and 1000 kbit/s.

• CAN1

• CANopen

• CAN2

• User programmable

• J1939

• Pulse inputs

• Maximum pulse input frequency 20 kHz.

• Joint frequency for all pulse inputs. (e.g. four channel in use --> 5 kHz for each channel.)

• Minimum PWM frequency

• 40 Hz for 20 MHz module

• 80 Hz for 40 MHz module

2.1.2 Codesys 2.3

• Flash

• 6200 bytes flash saved parameters.

• 10 separately saved sets.

• Maximum code size 256 kb.

• CAN-buses

• User programmable CAN for all physical CAN-buses

• Supported baud rates 50, 100, 125, 250, 500 and 1000 kbit/s.

• Supported protocols

• CANopen (for all physical buses)

• J1939 (only for one bus in the same module)

• ISOBUS (only for one bus in the same module)

• Possible to add external c-programmed library

• Minimum PWM frequency

• 40 Hz for 20 MHz module

• 80 Hz for 40 MHz module

• Maximum pulse input frequency 40 kHz. Joint frequency for all pulse inputs. (e.g. four

channel in use --> 10 kHz for each channel). Is dependable for the other interrupt load in
module (for example heavy CAN-traffic can reduce maximum frequency).

2.2 CANopen Indexes

CANopen communication features can be installed through software, for example NodeIDs and
CAN rates. For more information refer to programming manuals.

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Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

3 INPUT / OUTPUT SPECIFICATIONS

I/O module contains inputs and outputs or, in other words, I/O pins of many different types.
There are, for example, outputs which source current and outputs which sink current.
Furthermore, there are I/O pins which can be used as inputs or as outputs at the control of the
application programmer.

3.1 Configurable I/Os

Max

Amount

DI AI PI DO PWM

Digital

Input

Analog

Input

Current

Measuring

Feedback

Pulse

Input

Digital

Output

(sourcing)

Digital

Output

(sinking)

Pulse Width

Modulation

Output

4 x
4 x

24 x x x

8 x x
4 x x
8 x x

52 48 12 8 28 24

The usage of each I/O pin is determined by the application.

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3.2 Digital Input

Pins X1.19, X1.20, X2.19, and X2.20 are ground referenced inputs (DI).
Pins are associated with a bit variable in the IX area in PLCopen programming environment.

The application program will see there a logical zero when the pin is grounded or left open and
a logical one when the pin is connected to a positive voltage source.

Electrical Characteristics

Symbol Parameter Conditions Min Max Units

RI Input Resistance

V

I

Greater than 4,3 V (Note 1) 9,0 11

k

Ω

Referenced to 1,3 V;
V

I

Less than 4,3 V (Note 1)

6,2 7,6

kΩ

VIH Input High Voltage 4,8 30 V

VIL Input Low Voltage -0,5 4,2 V

fI Input Frequency

t

C

=10 ms (Note 2, 3, 4, 5) 12 Hz

Variable tC (Note 2, 3, 5) 1/8tC

CI Input Capacitance 37 57 nF

Note 1: With input voltages below 4,3 V it seems like the internal input resistance was

connected to a 1,3 V voltage source.

Note 2: t

C

denotes software cycle time.

Note 3: Violating this rating may lead to system not recognizing all input state transitions.
Note 4: These parameters depend on software cycle time.
Note 5: Applies to inputs used as normal digital input. Violating this rating may lead to

application program not noticing all input state transitions.

Connection Principle

+24V/+12V

Module

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3.3 Current Measuring Feedback

Pins X1.5, X1.6, X2.3, and X2.4 are normally used as a return path for the loads of PWM
outputs. These kinds of pins have a small shunt resistor connected to ground. The shunt
resistor is used to measure the current flowing through the load. Nothing prevents using these
pins to measure currents from other sources as well.

In PLCopen programming environment, there is a word variable in IW area associated with each

pin from where the software can read the actual current flowing into the pin.

Electrical Characteristics

Symbol Parameter Conditions Min Max Units

RI Input Resistance 0,21 0,23

Ω

II Input Current

Analog measuring
range

0,0 1,0 A

(Note 1) 1,7 A

TIRE Total Input Referred Error 55 mA

Note 1: Exceeding the max value might cause damage to input.
Connection Principle

A pin where the upper wire of the load is connected is PWM output / digital output. This
illustrates the normal way to connect loads when load current measurement is desired.

+24V

Module

Load

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3.4 Digital Input / PWM Output / Digital Output

These pins are current sourcing outputs. In other words, pin connects the load to positive supply
voltage. The application program can also simultaneously monitor the actual state of the pin.
This feature makes it possible to detect short circuits to the ground. Open loads can not be
detected because the internal load resistor is connected to the ground.

Connector X1 Connector X2

X1.1
X1.2
X1.3
X1.4
X1.7

X1.8
X1.14
X1.15
X1.16
X1.17
X1.22
X1.23

X2.1
X2.2
X2.5
X2.6
X2.7
X2.8

X2.9
X2.10
X2.16
X2.17
X2.22
X2.23

These kind of outputs are also capable to generate pulse width modulated (PWM) output
signals. This feature is useful when driving proportionally controlled loads, e.g. proportional
hydraulic valves. Monitoring the state of the pin is generally not possible when the pin is used as
a PWM signal output.

PWM frequencies can be configured under software control in groups of outputs. The frequency

is set by HW_SET_PWM_FREQ function call. The setting is done by a PWM channel but

setting the frequency of one channel sets also the frequencies of all the other channels in the
same groups.

In very carefully selected applications a pin of this type can also be used as an input by using
the output state monitoring feature. In those cases, the output functionality of the pin must of
course be kept in off state. It must be taken care in system design that the output unintentionally
switching to on state causes no harm to the system.

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PWM Frequency Control Groups (PFCG)

Group Channel Output pin

A 0 X1.23

1 X1.22
2 X1.17
3 X1.16
4 X1.1
5 X1.2
6 X1.4
7 X1.3
8 X2.2

9 X2.1
10 X2.9
11 X2.10

B 12 X2.8
C 13 X2.7
D 14 X2.6
E 15 X2.5
F 16 X1.7

17 X1.8
18 X1.15
19 X1.14
20 X2.17
21 X2.16
22 X2.22
23 X2.23

Electrical Characteristics

Symbol Parameter Conditions Min Max Units

RO Output Resistance Output On 0,2

Ω

IO Output Current Output On 3 A

f

PWM

PWM Frequency (Note 1) 80 2550 Hz

PWM Resolution

Group A and F (Note 1) 5 MHz/ f

PWM

Group B, C, D and E
(Note 1)

625 kHz/ f

PWM

Group A and F;
f

PWM

=100 Hz (Note 1)

50000

Group B, C, D and E;
f

PWM

=100 Hz (Note 1)

6250

RI Input Resistance Output Off 2,8 7,5

K

Ω

VIH Input High Voltage 3 VIN V
VIL Input Low Voltage Output Off -0,5 1 V

fI Input frequency

t

C

=10 ms (Note 2, 3, 4) 12 Hz

Variable tC (Note 2, 4) 1/8tC

tI Input Pulse Width

t

C

=10 ms (Note 2, 3, 4) 40 ms

Variable tC (Note 2, 4) 4tC

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Connection Principle

A pin where the lower wire of the load is connected is current measuring feedback. This
illustrates the normal way to connect loads when load current measurement is desired.

Connection Principle (when used as an input)

Note 1: PWM capable outputs are divided into six groups. All outputs in the same group share

the same PWM frequency (default value 140 Hz)

Note 2: Violating this rating may lead to system not recognizing all input state transitions
Note 3: These parameters depend on software cycle time
Note 4: t

C

denotes software cycle time

+24V

Module

Load

+24V/+12V

Module

+24V

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3.5 Digital Input / Analog Input

Pins X1.12, X2.12, X3.5…X3.8, X3.13, and X3.14 are analog inputs. Some of the inputs are
grouped: X3.5, X3.6 and X3.7 is defined as group one, and X3.13 and X3.14 is group two. Both
groups can be configured either as a current input or as a voltage input. For example, if group
two is configured as a current input, then both pins X3.13 and X3.14 can only be used as a
current input.

Pins of this kind are used to measure analog signals. They can be used as high impedance
voltage inputs for signals from 0 to 5 volts or low impedance current inputs for signals from 0 to
22,7 milliamperes. Pins of this kind can be used as e.g. joystick connection when 41 k +2,5 V
(voltage input) is selected.

Inputs are divided into groups by the input impedance configuration. The input impedance of

each group is controlled by a bit in an Input Impedance Configuration Register (IICR). This
register is invisible to the programmer but it can be written by HW_SET_AI_TYPE function call.

When an input like this is configured as a low impedance current input, it can’t
withstand the normal maximum input voltage rating. The maximum rating is lowered
in this case to 15 volts.

In PLCopen programming environment, there is a word variable in IW area associated with each

pin from where the software can read the actual signal magnitude at the pin.

In carefully selected applications these pins can also be used as digital inputs. Generally, it is
not recommended. In high impedance voltage input configuration they have low threshold
voltage which is quite sensitive to interference signals. In low impedance current input
configuration they are subject to damage if they are connected to for example 24 volt system

voltage. There are bits in IX area associated with these inputs to support the DI functionality.

Input Impedance Configuration Register (IICR)

Bit Input Group

IICR.0 X1.12
IICR.1 X2.12
IICR.2 X3: 5, 6, 7
IICR.3 X3.8
IICR.4 X3: 13, 14

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Electrical Characteristics

Symbol Parameter Conditions Min Max Units

VI Input Voltage Analog measuring range 0,0 5,0 V

II Input Current Analog measuring range 0,0 22,7 mA

VIH Input High Voltage

(Note 1) 2,0 30 V
(Note 2) 2,0 15 V

VIL Input Low Voltage -0,5 1,0 V

IIH Input High Current (Note 2) 9,0 27 mA
IIL Input Low Current (Note 2) -2,3 4,5 mA

RI Input Resistance

Referred to 2,5 V (Note 1) 40 42

k

Ω

(Note 2) 215 225

Ω

TIRE

Total Input Referred
Error

0,25 V
(Note 2) 1,1 mA

πI

Time Constant of Input
Low Pass Filter

(Note 1) 3,1 4,7 ms

Connection Principle; High Impedance Voltage Input

Connection Principle; Low Impedance Current Iinput

Note 1: Input Configured for Voltage Measurement (220 Ω Input Resistor Disconnected)
Note 2: Input Configured for Current Measurement (220 Ω Input Resistor Connected)

+24V

Module

"0"

+24V

Module

"1"

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3.6 Digital Input / Digital Output (sinking)

Pins X1.18, X1.21, X2.18, and X2.21 are current sinking outputs. In other words, pins connect
the load to the ground. The application program can also simultaneously monitor the actual
state of the pin. This feature makes it possible to detect open loads and short circuits to the
supply voltage.

In very carefully selected applications a pin of this type can also be used as an input by using
the output state monitoring feature. In those cases, the output functionality of the pin must of
course be kept in off state. It must be taken care in system design that the output unintentionally
switching to on state causes no harm to system.

There are two bit variables associated with each pin of this type in PLCopen programming

environment. The first is one of the QX output bits for controlling the pin as an output. The
second is one of the IX input bits for monitoring the actual state of the output or reading the pin

as an input.

Electrical Characteristics

Symbol Parameter Conditions Min Max Units

RO Output Resistance Output On 0,12

Ω

IO Output Current Output On 3 A
RI Input Resistance Output Off 9 11

k

Ω

VIH Input High Voltage Output Off 3,0 30 V
VIL Input Low Voltage -0,5 1,0 V

fI Input frequency

t

C

=10 ms (Note 1, 2, 3) 12 Hz

Variable tC (Note 1, 3) 1/8tC

tI Input Pulse Width

t

C

=10 ms (Note 1, 2, 3) 40 ms

Variable tC (Note 1, 3) 4tC

Connection Principle

+24V

Module

Load

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Connection Principle (when used as input)

Note 1: Violating this rating may lead to system not recognizing all input state transitions
Note 2: These parameters depend on software cycle time
Note 3: t

C

denotes software cycle time

+24V

Module

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3.7 Digital Input / Pulse Input

Pins X3.16…X3.23 are ground referenced inputs (DI) including pulse counting (PI) feature.

These pins have 10 kΩ resistor connected to GND.

The application program is provided with frequency and number of the pulses seen in the input
in addition to the normal input state.

There are three variables associated with each pin of this type in IEC programming

environment. The first is a bit variable in the IX area just in the same way as with the pins
without the PI features. The other two are word variables in the IW memory area which hold the

frequency value and the number of pulses.

After starting up the module measures only the pulse frequency. Pulse counting, if needed,
must be enabled explicitly by the application program.

The pulse counting competes with the application program and other processes for the CPU
time. This makes it rather hard to estimate the actual maximum frequency of the pulses that the
module is able to count reliably. The maximum frequencies given in the table below are such
frequencies which make the module to freeze in practice if all inputs are connected to their
maximum frequencies. It means that to be able to reach the maximum frequencies, there is no
room for application program or any other processes like CAN traffic. So, the practical limits are
lower but the maximum values of the table still give the basis for the estimation.

Inputs of this type are also suitable for quadrature sensor position counting. Any of these inputs
can be logically paired with another similar input. The result is a two channel pulse counter
which is capable of detecting the direction of the movement of the sensor. The pairing is done in
application program.

The pulse count and pulse frequency can be read from the pulse input channels. The following
table shows the IW-addresses where to read the wanted data (when using CoDeSys 2.1).

Pulse Input channels

Channel Pin Pulse Frequency Pulse Count

0 X3.23 %IW150 %IW160
1 X3.17 %IW151 %IW161
2 X3.16 %IW152 %IW162
3 X3.20 %IW153 %IW163
4 X3.19 %IW154 %IW164
5 X3.18 %IW155 %IW165
6 X3.22 %IW156 %IW166
7 X3.21 %IW157 %IW167

For more information on pulse input channels refer to Hardware Library manual (HW lib).

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Electrical Characteristics

Symbol Parameter Conditions Min Max Units

RI Input Resistance

V

I

greater than 4,3 V (Note 1) 9,0 11

k

Ω

Referenced to 1,3 V;
V

I

less than 4,3 V (Note 1)

6,2 7,6

kΩ

VIH Input High Voltage 4,8 30 V

VIL Input Low Voltage -0,5 4,2 V

fI

Input Frequency
(frequency
measurement and
pulse counting)

(Note 2, 3, 6) 5 kHz
Sum of the frequencies of all the
pins (Note 2, 3, 6)

40 kHz

Input Frequency
(normal inputs)

t

C

=10 ms (Note 3, 4, 5, 7) 12 Hz

Variable tC (Note 3, 5, 7) 1/8tC

tI Input Pulse Width

Note 3, 6 50 µs
tC=10 ms (Note 3, 4, 5, 7) 40 ms
Variable tC (Note 3, 5, 7) 4tC

CI Input Capacitance 0,8 47 nF

Connection Principle

Note 1: With input voltages below 4,3 V it seems like the internal input resistance was

connected to a 1,3 V voltage source

Note 2: All conditions must be respected. Even if some of the inputs were not used for

frequency measurement or pulse counting, these conditions must nevertheless be
respected regarding those inputs too. Otherwise operation of other inputs may be
interfered

Note 3: Violating this rating may lead to system not recognizing all input state transitions
Note 4: These parameters depend on software cycle time
Note 5: t

C

denotes software cycle time

Note 6: Applies to inputs used for frequency measurement and pulse counting. Violating this

rating may lead to incorrect measurement or counting

Note 7: Applies to inputs used as normal digital inputs. Violating this rating may lead to

application program not noticing all input state transitions

+24V/+12V

Module

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3.8 Specification for Internal Diagnostics

This module’s internal temperature and incoming operating voltage can be read from the IEC
addresses with the numerical values and resolutions shown in the following table.

Type

IEC

address

Precision

FS

Resolution

bits

Full

reading

Notes

AI(+5 V) IW112

≤ ±5,0%

10 5 V

AI(+12 V) IW113

≤ ±5,0%

10 23,5 V

AI(Vsupply) IW114

≤ ±5,0%

10 46 V

AI(TEMP) IW115

≤ ±5,0%

10 5 V TEMP (ºC) = (IW115-5177) / 81,3

3.9 Closed Loops Wiring

It is strongly recommended to use closed loops for connecting all sensors, actuators etc.
devices to I/O modules. Closed loops wiring can be achieved by connecting the GND wire from
the sensor, actuator etc. device into the GND pin of module connector. If it is not possible to use
closed loops, use DI/PI pins or DI/AI pins instead.

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3.10 I/O / IEC Map

XM1.1
XM1.2
XM1.3
XM1.4

XM1.5

XM1.6
XM1.7
XM1.8
XM1.9
XM1.10

XM1.11
XM1.12

XM1.14
XM1.15

XM1.16
XM1.17

XM1.18
XM1.19
XM1.20

XM1.21

XM1.22
XM1.23

DI

DI
DI
DI

AI / FB

AI / FB
DI
DI

DI / AI

GND
GND

GND

DI
DI

DI
DI

DI
DI
DI

DI
DI

DI

XM2.1
XM2.2
XM2.3
XM2.4

XM2.5
XM2.6
XM2.7

XM2.8
XM2.9
XM2.10

XM2.12
XM2.13

XM2.14
XM2.15

XM2.16
XM2.17

XM2.18
XM2.19
XM2.20

XM2.21

XM2.22
XM2.23

DI

DI
AI / FB
AI / FB

DI

DI
DI

DI / AI
GND

DI
DI

DI
DI
DI

DI
DI
DI

XM3.3
XM3.4

XM3.5
XM3.6
XM3.7

XM3.8

XM3.11
XM3.12
XM3.13

XM3.14
XM3.15

XM3.16
XM3.17

XM3.18

XM3.19
XM3.20

XM3.21

XM3.22
XM3.23

DI / AI

GND
GND

GND

PI / DI
PI / DI

DI

DI
DI

GND
GND

DI / AI
DI / AI

DI / AI

GND
DI / AI

DI / AI
BSL

PI / DI

PI / DI

PI / DI

PI / DI

PI / DI

PI / DI

XM4.2

XM4.3

XM4.4
XM4.6

CAN1 H

CAN1 L

CAN GND

+24V

INPUT

OUTPUT

XM1.1

XM1.2

XM1.7

XM1.8
XM1.9

XM1.13

XM1.15

XM1.16

XM1.18

XM1.23

DO / PWM

DO / PWM

DO / PWM
DO / PWM

DO / PWM

DO / PWM

DO

DO / PWM

IX1.4

IX1.5
IX1.7
IX1.6

IW101

IW100
IX0.0
IX0.1

IX0.3
IX0.2

IX1.3
IX1.2

IX0.8

IX0.12

IX0.9

IX0.13
IX1.1

IX1.0

QX1.4 / QW104

QX1.5 / QW105

QX0.0 / QW116
QX0.1 / QW117

QX0.2 / QW118

QX1.3 / QW103

QX0.8

QX1.0 / QW100

IX1.13

IX1.12

IX1.11
IX1.10
IX1.9
IX1.8

IX1.15

IX1.14

IX0.5
IX0.4

IX0.6
IX0.7

IX0.15

IX0.11

IX0.10

IX0.14

IW103

IW102

XM2.1
XM2.2

XM2.7
XM2.8

XM2.9

XM2.13

XM2.15

XM2.16

XM2.18

XM2.23

DO / PWM
DO / PWM

DO / PWM
DO / PWM

GND

DO / PWM

DO

DO / PWM

DO / PWM

GND

QX1.13 / QW109
QX1.12 / QW108

QX1.9 / QW113
QX1.8 / QW112

QX1.14 / QW110

QX0.5 / QW121

QX0.7 / QW123

QX0.10

IX3.6 / IW106
IX3.7 / IW107
IX3.8 / IW108

IX3.9 / IW109

IX3.11 / IW111

IW152 / IX2.2
IW151 / IX2.1

IW155 / IX2.5

IW154 / IX2.4
IW153 / IX2.3

IW150 / IX2.0

IW157 / IX2.7

IW156 / IX2.6

XM3.1
XM3.2

XM3.9

XM3.10

+12V

+5V

+12V

+5V

XM3.11

XM3.12

GND

GND

AI = AN ALOG INPUT
DI = DIGITAL INPUT
PI = PULSE INPUT

DO = DIGITAL OUTPUT
PWM = PULSE WIDTH MODULATIVE OUTPUT
FB = FEEDBACK

XM4.1
XM4.5

+24V

GND

+24V

+24V

Supply +24 V

GND

+24V

+5V

XM4.7 CAN2 H
XM4.8

CAN2 L

GND

+24V

XM2.11+24V

XM1.11GND

+24V

max total

200mA

+12V

XM1.3

XM1.4

DO / PWM

DO / PWM

QX1.7 / QW107

QX1.6 / QW106

XM1.10

GND

IX3.4 / IW104

XM1.14DO / PWMQX0.3 / QW119

XM1.17DO / PWMQX1.2 / QW102

XM1.21DO

QX0.9

XM1.22DO / PWMQX1.1 / QW101

XM2.6DO / PWMQX1.10 / QW114

XM2.5DO / PWMQX1.11 / QW115

XM2.10DO / PWM

QX1.15 / QW111

IX3.5 / IW105

XM2.14GND

XM2.17DO / PWMQX0.4 / QW120

XM2.21DOQX 0.11
XM2.22DO / PWMQX0.6 / QW122

XM3.3GN D
XM3.4GN D

IX3.10 / IW110

U/I

U/I

U/I

U/I

U/I

+24V

+24V

Power supply

for logic

NOTE! All addresses expressed as Word addresses

+5V

+5V

+5V

max total

250mA

+5V

+5V

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3.11 AMPSEAL Connectors

Epec uses gold plated, locked and sealed AMPSEAL heavy duty connectors for all Epec CAN
Module Family products to ensure the endurance of extreme conditions.

• 8-pin AMPSEAL for power and system CAN connections

• 3 x 23-pin AMPSEAL for I/O

• All connectors are mechanically keyed to mate only with identical colors

AMPSEAL connectors Epec ordering code

AMP 23-pin grey plug (female) KX0007
AMP 23-pin black plug (female) KX0008
AMP 23-pin blue plug (female) KX0009
AMP 8-pin black plug (female) KX0187

3.12 AMPSEAL Cable Dimensions

Size

Insulation

diameter range

Strip length ±0,4

mm2 AWG

0,5 20 1,7 5,1
0,8 18 to 5,1
1,4 16 2,7 5,1

Typical hand crimping tool e.g.:

AMP Procrimper 58529-1,
Epec ordering code TT0018

• All applied cables should be properly shielded, bundled and grounded

• See the General Mounting and Cabling Instructions for Epec Modules for more detailed

information about the cabling

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4 POWER SUPPLY

• Nominal supply voltage 24 VDC

• Operating range 10…30 VDC

• No saving operations (program flashing or parameter storing) into permanent memory can

be done under 11,5 VDC.

• Undervoltage reset ≤ 9,5 VDC

4.1 Overvoltage Protection

• Max. 70 VDC (Stresses above this value may cause permanent damage to the module.)

• Module has a shutdown circuit which protects the module and loads against overvoltage.

The shutdown circuit cuts off the power feed for the logic and loads in case of overvoltage.
The shutdown circuit is activated when voltage reaches circa 32 V. Power feed is restored
when supply voltage drops to 30 V.

4.2 Power Consumption

• Approx. 1,8 W (+24 VDC, no external load)

• Supply Voltage (V

SUPPLY

) maximum continuous current 13 A (with full external load)

• GND current sum max 13 A

4.3 Power Supply Pins

Designation

Connector /
pin number

Potential

Supply voltage X4.4

X4.5

+24 VDC (+10…30 VDC)

Ground (for supply voltage) X4.1

X4.3

GND

Optional back-up supply * voltage
for CPU

X2.11 +24 VDC

Auxiliary supply for external devices X1.13 V

SUPPLY

/ max 3 A
Internally regulated and monitored
auxiliary supply for external devices

X3.1
X3.9

+12 VDC / max 200 mA

(max total for all pins together)
Internally regulated and monitored
auxiliary supply for external devices

X3.2

X3.10

+5 VDC / max 250 mA

(max total for all pins together)
Ground X1.9

X1.10
X1.11
X2.13
X2.14
X2.15

X3.3

X3.4
X3.11
X3.12

GND
(3 A/pin)

* This pin does not provide power supply for current sourcing outputs. Please consult the

manufacturer before using this pin as a module voltage supply.

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5 BUS CONNECTION

5.1 Bus Connection Pins

The CAN communication pins and the power supply are connected in the module’s AMP8
connector as follows:

Designation Connector / pin number

CAN1 interface, system interface X4.2 (CAN H)

X4.6 (CAN L)
CAN2 interface, user
programmable communication

X4.7 (CAN H)

X4.8 (CAN L)
Factory use only,
this pin must be left open

X3.15

5.2 CAN Interface

Higher layer protocol is user programmable (CAN2) communication. The physical interface of
CAN interface is according to ISO 11898 and CAN 2.0B protocol. The downloading of the
application programs can only be done via CAN1.

The programmability of CANs depends on the used programming environment as described in
the following table:

Programming environment CAN programmability

CoDeSys 2.1

•

CAN1 is CANopen compatible

• CAN2 is user programmable

• CANopen is not available for CAN2

CoDeSys 2.3

•

CAN1 and CAN2 are CANopen compatible and user

programmable

• For example CANopen, SAE J1939 or ISOBUS are
available for both CANs.

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6 ENVIRONMENTAL CHARACTERS

Epec CAN module family is designed for extreme environments and the product family is
certified with normal automotive (e17) EMC standards and has shock and vibration endurance
up to 100 G.

• Operating temperature -40°C … +70°C

• Storage temperature -50°C … +85°C

6.1 Protection

• IP67 (classification according to IEC 60529)

• Module is equipped with Oil Rating 7 (according to test method AATCC 118-1997ASTM)

hydrophobic and oleophobic Gore HPM Membrane Vent

• Protection for plugs depends on cable processing

• All cables, connectors and tools must be of correct type and sufficiently high quality. Also the

environmental suitability of equipment should be checked (protection for moisture,
mechanical stability, power durability, coupling resistance, among other things)

• Additional module cover for wires and connectors is also available

6.2 EMC Tests

Epec 4G modules are certified according to following tests:

ISO/DIS 14982 (1998)

Agricultural and forestry machines-electromagnetic compatibility-test methods and acceptance
criteria
Electrostatic discharge (ESD) immunity test

•

Test method EN61000-4-2 (1995)

• Performance criterion B

Discharge mode Test level (kVp)

Contact

± 2, ± 4,

±

6

Air

± 2, ± 4,

±

8

Transient and surges in vehicular
environment immunity test

Note: The Mini module (2038) and the Mini

display (2029) need the Hub module (2021)
in order to have the full transient immunity.

•

Test method ISO 7637-2 (1990), pulse 5

• Performance criterion B

Pulse Pulse parameters

5

Us=+70V,

tr=10ms, td=600ms

Commission directive 72/245/EEC, as last amended by commission directive
2006/28/EC Requirements to be met by vehicles and electrical/electronic sub-assemblies
fitted to a vehicle

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Radiated disturbance emission test

•

Test method 2005/83/EC, ANNEXES VII and

VIII

Frequency

(MHz)

Limit value (dBμV/m)

30 – 1000

62/52/63

(Broadband QP)

30 – 1000

52/42/53

(Narrowband AVE)

Conducted disturbances emission test

•

Test method 2005/83/EC, ANNEX X

Port Limit level (V)

24 V DC input

+150

-450

Immunity to transient disturbances
conducted along supply lines test

Note: The Mini module (2038) and the Mini

display (2029) need the Hub module (2021)
in order to have the full transient immunity.

•

Test method 2005/83/EC, ANNEX X

• Performance criterion:

Pulse Criterion

1 C
2a B
2b C
3a A
3b A

4 C

Pulse Pulse parameters

1

3/2000

μ

s, -600 V, 1000 pulses

2a

1/50

μ

s, +100 V, 1000 pulses
2b 20 V, 220 ms, 2 pulses
3a 5/100 ns, -200V, 60minutes
3b 5/100 ns, +150 V, 60minutes

4 100 ms -20,5(8,0) V, 20s -

16,5(12,0) V, 2 pulses

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Radiated radio-frequency electromagnetic
field immunity test

•

Test method 2005/83/EC, ANNEX IX

• Performance criterion: No degradation of
‘Immunity-related functions’

Specification

Frequency

Range

(MHz)

Test

level

Modulation

AM80% 1 kHz

Sweep step 1%,

time/step 3s

20-800 30 V/m

PM

577/4600μs

800-2000 30 V/m

EN 61000-6-3 (2001)

Electromagnetic compatibility-generic emission standard

part6-3: residential, commercial and light industry

Radiated disturbance emission test

Note: The Color display (2040) needs extra

facilities in order to have the limit B
covered.

•

Test method EN 55022 (1994)

Limit

Frequency

(MHz)

Limit value

(dBμV/m)

A 30 – 1000 40/47 (QP)

B 30 – 1000 30/37 (QP)

Conducted disturbance at main ports
emission test

•

Test method EN 55022 (1994)

Frequency

(MHz)

Limit value (dBμV)

0,15 - 30 66/56/60 (QP)

0,15 – 30 56/46/50 (AVE)

EN 61000-6-2 (2005)

Electromagnetic compatibility-generic immunity standard

part6-2: industrial environment

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Conducted radio-frequency common mode
immunity test

•

Test method EN 61000-4-6 (1996)

• Performance criterion A

Specification Port Test level

Frequency range

0,150-80 MHz

Modulation

AM80% 1 kHz

Sweep step 1%,

time/step 3s

DC input

port

10 Vemf

Signal

ports

10 Vemf

Radiated radio-frequency electromagnetic
field immunity test

•

Test method EN 61000-4-3

• Performance criterion A

Specification

Range

(MHz)

Test
level

Frequency range

80-2700 MHz

Modulation

AM80% 1 kHz

Sweep step 1%,

time/step 3s

80-1000 20 V/m

1000-2700 3 V/m

Electrical fast transient (EFT/B) immunity
test

•

Test method EN 61000-4-4 (1995)

• Performance criterion B

Test pulse Port Test level

5(Tr)/50(Th) ns,

repetition

frequency

5 kHz, duration

1 minute

DC input

port

± 2,0 kVp

Signal

ports

± 2,0 kVp

CFR 47 Part 15, Subpart B, Class A and B

Code of federal requlations (cfr) title 47 telecommunication, part15 radio frequency devices,
subpart b unintentional radiators
Class a intended for use in industrial/commercial environments
Class b intended for use in residential/small office environments

Radiated emissions

Note: The Color display (2040) needs extra

facilities in order to have the class B
covered.

•

Test method ANSI C63.4 and EN55022

Class

Frequency

(MHz)

Limit value

(dBμV)

A 30 – 1000 40/47 (QP)

B 30 – 1000 30/37 (QP)

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2024G08,G18 / MAN000185

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

CLASSIFICATION OF PERFORMANCE CRITERION

A: All functions of a device/system perform as designed during and after exposure to

disturbance.

B: All functions of a device/system perform as designed during and after exposure to

disturbance. However, one or more of them can go beyond specified tolerance. All
functions return automatically to within normal limits after exposure is removed. Memory
functions shall remain class A.

C: One or more functions of a device/system do not perform as designed during exposure but

return automatically to normal operation after exposure is removed.

D: One or more functions of a device/system do not perform as designed during exposure and

do not return to normal operation until exposure is removed and a device/system is reset
by simple “operator/use” action.

E: One or more functions of a device/system do not perform as designed during exposure and

cannot be returned to operation without repairing the device/system.

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07.10.2010

2024G08,G18 / MAN000185

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

6.3 Environmental Tests

The following environmental tests have been performed to Epec 4G modules:

Temperature

Test Temperature

Duration/

Exposure

time

Remarks

Cold
IEC 60068-2-1,
Test Ab

-45 °C 16 h -

Dry heat
IEC 60068-2-2,
Test Bb

70 °C 16 h -

Damp heat cycling
IEC 60068-2-30,
Test Db

+25 °C/+55 °C

• rel. humidity >90%

• six test cycles

Change of temperature
IEC 60068-2-14,
Test Na

-50 °C/+60 °C 3 h

•

change time between

extreme temperatures 1-2
min

• 5 test cycles

Change of temperature
IEC 60068-2-14,
Test Nb

-40 °C/+70 °C 3 h

•

change of temperature 10

°C/min

• 2 test cycles

Mechanical resistance
Test

Duration and
direction

Remark

Shock/Bump test IEC
60068-2-27, and -29,
Tests Ea and Eb

• pulse duration 6
ms

• 500 impulses in
every six
directions

• half sine pulse shape

• peak acceleration 500 m/s

2

Vibration, random
IEC 60068-2-64,
Test Fh

• test duration 60
min in every
three test
direction

• ASD-level 0,5 m

2/s3

, 10 … 200 Hz

• ASD-level 1,0 m

2/s3

, 200 … 500 Hz

• total spectral acceleration 3,54 grms

Free fall,
IEC 60068-2-32,
Test Ed

• one fall /
direction
on each surface
and corner

• fall height 100 cm

Corrosion
Test Temperature Duration Concentration

Salt spray test
ISO 9227

+35 °C 24 h 50 g/l, NaCl

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2024 CONTROL MODULE

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07.10.2010

2024G08,G18 / MAN000185

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

7 HOUSING

• Closed light cast aluminium housing

• Powder-painted, hexavalent chromium free passivation for aluminium

• Puncture hole fastening

7.1 Mounting

• 2 pieces of M6 screws to DIN 912

• If a separate Epec module shock protection cover is mounted, it is recommended to use

Epec fastening bolts which are delivered with the cover

• Mounting position horizontal or vertical to allow water etc. flowing away from connectors:

• See the General Mounting and Cabling Instructions for Epec Modules for more detailed

information about the module mounting

Module

position

Mounting

base

Module
position

Mounting

base

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07.10.2010

2024G08,G18 / MAN000185

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

7.2 Unit Dimensions

136.00 mm

113.00 mm

147.00 mm

10.00 mm

6,20 mm

35.00 mm

46.00 mm

Scale 1:2

XM1 XM2

XM3

XM4

Epec CAN Module Family

2024 CONTROL MODULE

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07.10.2010

2024G08,G18 / MAN000185

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Tiedekatu 6 PL/P.O.Box 194 [phone] [phone] www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland

8 ADDITIONAL DOCUMENTS

For more information on Epec control system products, assembly and programming please refer
to the following documents:

Document ID Document name Document description

MAN000101 Mounting Instructions

General mounting and cabling instructions for Epec
modules

MAN000276 CoDeSys 2.3

Programming instructions for CoDeSys 2.3
environment (Note 1)

MAN000275 CoDeSys 2.1

Programming instructions for CoDeSys 2.1
environment

MAN000280 Hardware Library manual

Instructions for programmers using Hardware
Library

MAN000285 CANopen Library manual

Instructions for programmers using CANopen
Library

Note 1: CoDeSys 2.3 documentation is supplied within target files (for example library files and

manuals).