Epec 5050 Technical Document

Epec 5050 Control Unit

Technical Document

Document version history

08.02.2013

Added Section Configurable I/Os

07.01.2013

Document updated (added 8 MByte hardware version)

04.12.2012

Document updated

19.10.2012

First release

Date Notes

Technical Manual 5050 / MAN000539

Table of Contents

1 PREFACE ............................................................................................................................. 5

Use of Symbols ......................................................................................................... 5

1.1

Basic Skills Required ................................................................................................ 5

1.2

Safety Guidelines ...................................................................................................... 6

1.3

Warranty .................................................................................................................... 6

1.4

Limited Liability .......................................................................................................... 7

1.5

Environmental Statement .......................................................................................... 7

1.6

WEEE .............................................................................................................. 7

1.6.1

RoHS ............................................................................................................... 7

1.6.2

2

PRODUCT OVERVIEW ........................................................................................................ 8

3

TECHNICAL DATA ............................................................................................................ 10

4

INPUT / OUTPUT SPECIFICATIONS ................................................................................ 12

I/O List ..................................................................................................................... 12

4.1

Configurable I/Os .................................................................................................... 15

4.2

PWM Output / Digital Output / Digital Input ............................................................. 16

4.3

PWM/DO/DI_Type005 .................................................................................. 16

4.3.1

PWM/DO/DI_Type006 .................................................................................. 18

4.3.2

PWM/DO/DI/CM_Type007 ........................................................................... 21

4.3.3

PWM/DO/DI/CM_Type008 ........................................................................... 24

4.3.4

Digital Input / Pulse Input ........................................................................................ 27

4.4

DI/PI_Type001 .............................................................................................. 27

4.4.1

DI/PI_Type002 .............................................................................................. 29

4.4.2

DI/PI_Type003 .............................................................................................. 30

4.4.3

Software Channels for Pulse Inputs ............................................................. 32

4.4.4

Analog Input / Digital Input ...................................................................................... 33

4.5

AI/DI_Type011 .............................................................................................. 33

4.5.1

Digital Output / GND ............................................................................................... 35

4.6

DO_GND/DI_Type010 .................................................................................. 35

4.6.1

Reference voltage supply pins ................................................................................ 37

4.7

+5V REF_Type015 ....................................................................................... 37

4.7.1

+10 V REF_Type004 .................................................................................... 38

4.7.2

Power supply pins and limitations ........................................................................... 39

4.8

Connection Examples ............................................................................................. 42

4.9

Connection Examples for DI/PI_Type001 ..................................................... 43

4.9.1

Connection Examples for DI/PI_Type002 ..................................................... 45

4.9.2

Connection Examples for DI/PI_Type003 ..................................................... 46

4.9.3

Connection Examples for PWM/DO/DI_Type005 ......................................... 48

4.9.4

Connection Examples for PWM/DO/DI_Type006 ......................................... 50

4.9.5

Connection Examples for PWM/DO/DI/CM_Type007 .................................. 52

4.9.6

Connection Examples for PWM/DO/DI/CM/Type008 ................................... 54

4.9.7

Connection Examples for AI/DI_Type011 ..................................................... 56

4.9.8

BUS CONNECTIONS ......................................................................................................... 58

5

CAN bus .................................................................................................................. 58

5.1

Ethernet interface .................................................................................................... 59

5.2

6

INT ERNAL DIAGNOSTICS ................................................................................................ 60

LED Indicator ........................................................................................................... 60

6.1

Temperature ............................................................................................................ 61

6.2

Error Log ................................................................................................................. 61

6.3

7

APPROVALS AND SAFETY .............................................................................................. 62

EMC Tests ............................................................................................................... 62

7.1

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Technical Manual 5050 / MAN000539

7.2 Environmental Tests ............................................................................................... 68

8

MECHANICS AND CABLING ............................................................................................ 70

Unit Dimensions ...................................................................................................... 70

8.1

Mounting and Cleaning ........................................................................................... 71

8.2

Plugging and unplugging the cables/connectors .................................................... 73

8.3

Cabling .................................................................................................................... 75

8.4

System Topologies ....................................................................................... 75

8.4.1

CAN Bus ....................................................................................................... 77

8.4.2

Ethernet ........................................................................................................ 79

8.4.3

I/O Cabling .................................................................................................... 80

8.4.4

Power supply ................................................................................................ 85

8.4.5

Welding ................................................................................................................... 88

8.5

System Examples ................................................................................................... 89

8.6

Accessories and Ordering Codes ........................................................................... 91

8.7

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Technical Manual 5050 / MAN000539

The information icon indicates important information and issues to be noted for the

The (electrical) warning icon indicates a hazard which could cause an electrical
requirements set in the CE Standard.

E17 Approval
compatibility) standards.

1 PREFACE

1.1 Use of Symbols

This manual uses the following symbols to point out important information or safety instructions:

reader.

The caution icon indicates very important information or a warning. If the advices
are ignored, it can result in personal injury or damage to software or equipment.

danger and/or a personal injury.

CE compatibility
This symbol indicates that the product described in this manual complies with the

WEEE symbol
This symbol indicates that the product must be sent to separate collection facilities
for recovery and recycling when the end-user wishes to discard the product.

This product is certified with normal automotive (E17) EMC (electromagnetic

1.2 Basic Skills Required

The user of this document must have basic knowledge of machine controlling, CAN
communication, PLCopen programming according to IEC61131-1 and should have skills to use
CODESYS 2.3 programming environment.

Please refer to CODESYS 2.3 manual for further information concerning the programming
environment and required installations.

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

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Technical Manual 5050 / MAN000539 Page 6/92

1.3 Safety Guidelines

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

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
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.

External fuses 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 docum ent.
Epec Oy reserves a right to improve its products without a further notice.

1.4 Warranty

The manufacturer does not assume any responsibility for the products being fit for any particular
purpose, unless otherwise expressly stat ed in wr iting b y the manuf ac tur er.

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.

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Technical Manual 5050 / MAN000539 Page 7/92

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.

1.5 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.

1.6 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.

1.6.1 WEEE

This product complies with the European Comm unit y Directi ve 200 2/9 6/EC on was te elec tric a l
and electronic equipment (WEEE) encouraging and setting specific criteria for the collection,
handling and recycling of electr ic and elect ronic was te.

1.6.2 RoHS

This product complies with the European Community directive 2011/65/EU (RoHS) restricting
hazardous substances such as quicksilver and lead in electrical and electronic equipment.

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet
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Technical Manual 5050 / MAN000539 Page 8/92

2 PRODUCT OVERVIEW

Epec 5050 Control Unit is a compact, powerful and robust multifunction controller with 32-bit
processor and efficient calculating power. Epec 5000 product platform is fully compatible to the
existing Epec product portfolio. Some of the advances of the Epec 5050 Control Unit are listed
below.

Multifunctional Efficiency

• A powerful multifunction controller

• 32-bit processor

• increased calculating power

• floating point calculation

• Can be used used in a CAN control unit system as a multifunction controller with

different kinds of sensors and actuators, such as

• proportional valves,

• servo motors, and

• electro-hydraulic components

• Provides control system solutions for both centralized and distributed intelligence

systems

• Fully compatible with the existing Epec product portfolio

Mechanics & hardware

• Robust, light and leak proof aluminum/plastic cover has been widely tested against
different chemicals and environmental conditions

• The shape of the casing works to protect the electronics inside against mechanical
wear.

• Three point anchorage confirms firm mounting also on irregular surfaces

• Signal LED for quick status check and fault detection

• Equipped with gold plated, hea v y dut y AMPSE AL connec tor s

• Each connector is color coded and mechanically keyed to fit only to the correct,

corresponding place

• One CAN is equipped with double pins, which makes cabling easier since there is no
need for branches in the wire harness.

• Made in Finland

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Technical Manual 5050 / MAN000539 Page 9/92

Versatile I/O capabilities

• Total of 65 I/O pins

• Most pins have multipurpose features

• All the I/O pins are equipped with a short-circuit protection

• Pulse inputs have a threshold voltage selection

• PWM outputs have a high side current measurement

• Some pins with an input feature have a programmable pull up / pull down selection

Application programming

• Application downloading is possible through both CAN bus and Ethernet

• Floating point calculation makes programming more efficient

• Epec products are based on PLCopen and CANopen®, which make them easily

scalable to meet the requirements for both small and large machines

• Open I/O and communication interface, thus making it possible to connect

• sensors

• actuators

• joysticks

• other devices

from other manufacturers to optimize the whole machine environment, both technically
and ergonomically.

• Internal error logging which makes it possible to

• save e.g. overvoltage and overtemperature alarms

• program customized log applications

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Technical Manual 5050 / MAN000539 Page 10/92

3 TECHNICAL DATA

Processor

Memory 4 MByte hardware version:

32-bit CPU, 128 MHz

Flash 8 MByte
RAM 4 MByte (1 MByte for PLCopen application)
NVRAM 512 kbyte (for error logs, system parameters)

8 MByte hardware version:

Flash 8 MByte
RAM 8 MByte (3 MByte for PLCopen application)
NVRAM 512 kbyte (for error logs, system parameters)

Power

REF voltage outputs

Diagnostics

Programming

Software installation

Protection class

Size / Outer dimensions

Weight

Nominal supply voltage 12/24 VDC systems (8,3 ... 36 VDC),
Idle power consumption 2,2 W
Undervoltage reset 7,5 VControl unit shut down voltage typical 43 V

Overvoltage protection from 43 to 97,5 V

+5 V, +10 V

Signal LED (green/red)
Temperature monitoring
Error logging

CODESYS 2.3, Application size 1 MByte (in 4MByte hard ware vers i on)
CODESYS 2.3, Application size 3 MByte (in 8MByte hardware version)

Download to flash memory via CAN1 or Ethernet

IP67

224,8 x 148,5 x 50 mm

8.819 x 5.827 x 1.969 in

0,95 kg

2.09 lbs

Case material

Operating temperature

Aluminum / plastic

-40... +85°C

-40...+185°F

Storage temperature

-40... +85°C

-40...+185°F

Connectors

3 x AMP35 (connector 1 grey, connector 2 black, connector 3 blue)

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Technical Manual 5050 / MAN000539 Page 11/92

2,5 A, PWM frequency adjustable by application

2,5 A, voltage measurement, PWM frequency by application

pull-up / pull-down selection by application

pull-up / pull-down selection by application

4

DO/DI sinking up to 3 A

12 bit AD converter

pull-up/pull-down selecti on b y applicat io n

14

DI/PI pull-up/pull-down selection by applica tio n

4

DI/PI pull-down to GND

Communications/ Interfaces

I/O pins total

Outputs

Inputs

4 x CAN 2.0 B,
1 x Ethernet

65

12 P WM/DO/DI with high side current measurement up to

8 PWM/DO/DI with high side current measurement up to

4 PWM/DO/DI up to 2,5 A, PWM frequency by application,

4 PWM/DO/DI up to 4 A, PWM frequency by application,

11 DI/AI 0-10 V / 0-22 mA selection by application,

pull-up/ pull-down selection by application

4 DI/PI 5/10 V, threshold selection by application,

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Technical Manual 5050 / MAN000539 Page 12/92

number

Voltage

a

configurable

4 INPUT / OUTPUT SPECIFICATIONS

4.1 I/O List

The three connectors are placed in the module according to the following figure:

I/O table

Pin

X1.1

X1.2
X1.3
X1.4
X1.5
X1.6
X1.7
X1.8

X1.9
X1.10
X1.11

The following table lists the pins according to their pin number. Other columns offer quick
information about the pin and links for more information.

The group column:

* P1/P2 indicates the power source for the pin
smaller case characters indicate the input groups (the pins in the same group have the

same configurations)
UPPER CASE CHARACTERS indicate the output groups (the pins in the same group have

the same configurations)

Pin type Details Group*

LOGIC GND

CAN4H

CAN3H
CAN2H
CAN1H
CAN1H

CAN1H TERMINATOR

REF +10V_Type004 +10 V 250 mA

AI/DI_Type011

AI/DI_Type011

DI/PI_Type003

2,2 kΩ +10 V / 220 Ω GND

/ 47,5 kΩ GND

2,2 kΩ +10 V / 220 Ω GND

/ 47,5 kΩ GND

2,2 kΩ +10 V / 12,4 kΩ GND

Current /

0..22 mA 0..10 V

0..22 mA 0..10 V

Information

Min input freq.

X1.12
X1.13
X1.14
X1.15
X1.16

PWM/DO/DI/CM_Type007

LOADER BSL For factory use only

CAN4L
CAN3L
CAN2L

Epec Oy reserves all rights for improvements without prior notice

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12,4 kΩ GND

P1 / N

Nominal current 2,5 A

Technical Manual 5050 / MAN000539 Page 13/92

/ 47,5 kΩ GND

/ 47,5 kΩ GND

2,2 kΩ +10 V / 12,4 kΩ GND

12,4 kΩ GND

X1.17
X1.18
X1.19

X1.20
X1.21

X1.22
X1.23

X1.24

X1.25
X1.26
X1.27
X1.28
X1.29
X1.30
X1.31
X1.32
X1.33
X1.34
X1.35

PWM/DO/DI/CM_Type007

CAN1L
CAN1L

CAN1L TERMINATOR

AI/DI_Type011

AI/DI_Type011

PWM/DO/DI_Type005

Logic Power Supply

ETHERNET TD+

ETHERNET TD-
ETHERNET RD+
ETHERNET RD-

PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / C Nominal current 2,5 A
PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / C Nominal current 2,5 A
PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / D Nominal current 2,5 A
PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / D Nominal current 2,5 A
PWM/DO/DI_Type005 2,2 kΩ +10 V / 12,4 kΩ GND P1 / E Nominal current 4 A
PWM/DO/DI_Type005 2,2 kΩ +10 V / 12,4 kΩ GND P1 / E Nominal current 4 A
PWM/DO/DI_Type005 2,2 kΩ +10 V / 12,4 kΩ GND P1 / B Nominal current 4 A

2,2 kΩ +10 V / 220 Ω GND

2,2 kΩ +10 V / 220 Ω GND

P1 / B Nominal current 4 A
P1 / N Nominal current 2,5 A

0..22 mA 0..10 V

0..22 mA 0..10 V

X2.1
X2.2

X2.3
X2.4
X2.5
X2.6
X2.7
X2.8

X2.9
X2.10
X2.11
X2.12
X2.13
X2.14
X2.15
X2.16
X2.17
X2.18
X2.19
X2.20
X2.21
X2.22

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Power1 GND
Power1 GND

GND

REF +10V_Type004 +10 V 250 mA

REF +5V_Type015 +5 V 350 mA

DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND f Thresh. 5 /10 V
DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND f Thresh. 5 /10 V
DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND g Thresh. 5 /10 V
DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND g Thresh. 5 /10 V

GND
GND

GND
PWM/DO/DI/CM_Type007 12,4 kΩ GND P1 / Q Nominal current 2,5 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P1 / Q Nominal current 2,5 A

DI/PI_Type002 12,4 kΩ GND
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND h
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND h
DI/PI_Type002 12,4 kΩ GND
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND i
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND i

Reserved For factory use only
Reserved For factory use only

Epec Oy reserves all rights for improvements without prior notice

0/4..20 mA
0/4..20 mA

X2.23

/ 47,5 kΩ GND

configurable

configurable

configurable

configurable

configurable

/ 47,5 kΩ GND

/ 47,5 kΩ GND

/ 47,5 kΩ GND

/ 47,5 kΩ GND

/ 47,5 kΩ GND

configurable

Technical Manual 5050 / MAN000539 Page 14/92

AI/DI_Type011

2,2 kΩ +10 V / 220 Ω GND

0/4..20 mA 0..10 V

X2.24
X2.25

X2.26
X2.27
X2.28
X2.29
X2.30
X2.31
X2.32
X2.33
X2.34
X2.35

X3.1
X3.2

X3.3
X3.4

X3.5
X3.6

Power1 Supply
Power1 Supply

DO_GNDType010 12,4 kΩ GND P1 Nominal current 3 A

DO_GNDType010 12,4 kΩ GND P1 Nominal current 3 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / O Nominal current 2,5 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / O Nominal current 2,5 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / R Nominal current 2,5 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / R Nominal current 2,5 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / T Nominal current 2,5 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / T Nominal current 2,5 A

DO_GNDType010 12,4 kΩ GND P1 Nominal current 3 A

DO_GNDType010 12,4 kΩ GND P1 Nominal current 3 A

Power2 GND
Power2 GND

GND
GND

DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND j
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND j

Min input freq.
configurable

Min input freq.

X3.7
X3.8

X3.9
X3.10
X3.11

X3.12
X3.13
X3.14

X3.15
X3.16
X3.17
X3.18
X3.19

X3.20
X3.21

X3.22

DI/PI_Type002 12,4 kΩ GND
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND k

DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND k
DI/PI_Type002 12,4 kΩ GND
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND l

DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND l

REF +10V_Type004 +10 V 250 mA

AI/DI_Type011

AI/DI_Type011

AI/DI_Type011

AI/DI_Type011

AI/DI_Type011

AI/DI_Type011

REF +5V_Type015 +5 V 350 mA

DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND m
DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND m

2,2 kΩ +10 V / 220 Ω GND

2,2 kΩ +10 V / 220 Ω GND

2,2 kΩ +10 V / 220 Ω GND

2,2 kΩ +10 V / 220 Ω GND

2,2 kΩ +10 V / 220 Ω GND

2,2 kΩ +10 V / 220 Ω GND

/ 47,5 kΩ GND

0..22 mA 0..10 V

0..22 mA 0..10 V

0..22 mA 0..10 V

0..22 mA 0..10 V

0..22 mA 0..10 V

0..22 mA 0..10 V

Min input freq.

Min input freq.

Min input freq.

Min input freq.

Min input freq.

Min input freq.
configurable

Epec Oy reserves all rights for improvements without prior notice

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X3.23

configurable

12

PWM/DO/DI/CM_Type007

2,5A

x x

x x 8

PWM/DO/DI/CM_Type008

2,5A

x x

x

x

x

4

PWM/DO/DI_Type006

2,5A

x

x x 4

PWM/DO/DI_Type005

4A

x

x

x

4

DO_GND_Type010

3A

x

x

0-22 mA

pull-down

pull-down

4

DI/PI_Type002

pull-down

x

x

Technical Manual 5050 / MAN000539 Page 15/92

DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND a

Min input freq.

Max

Amount

X3.24
X3.25

X3.26
X3.27
X3.28
X3.29
X3.30
X3.31
X3.32
X3.33
X3.34

X3.35

Power2 Supply
Power2 Supply

PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / S Nominal current 2,5 A
PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / S Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / U Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / U Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / X Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / X Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / V Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / V Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / Y Nominal current 2,5 A
PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / Y Nominal current 2,5 A

4.2 Configurable I/Os

Control unit 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.

The following table contains a summary of configurable I/O pins in Epec 5050 control unit:

Pin Type Info DI AI

Current

Measurement

Voltage

Measurement

PI

DO

PWM

PNP NPN

11 AI/DI_Type011 0-10 V /

4 DI/PI_Type001 5/10 V

pull-up/

14 DI/PI_Type003 pull-up/

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x x

x x

x x

Technical Manual 5050 / MAN000539 Page 16/92

PWM/DO/DI_Type005

X

X

PWM/DO/DI_Type006

X X

PWM/DO/DI/CM_Type007

X

X

PWM/DO/DI/CM_Type008

X X X

Before the supply voltage can be connected to an output pin, the related power

4.3 PWM Output / Digital Output / Digital Input

This product has four different types of PWM/DO/DI pins. The following table shows their
differences:

Pin type

Pull-up

selection

2,5

A

4 A

Current

Measurement

Voltage

Measurement

4.3.1 PWM/DO/DI_Type005

Output (PWM/DO)

• This kind of pin is a current sourcing output with a pull-up selection

• In other words, the pin connects the load to a positiv e supply voltage

• When the pull-up is selected, it will affect two output pins (the pairs are indicated with upper

case characters in the pin table's Group column in section

• This pull-up feature is for open load detection when the pin is used as an output.

• These outputs have a switching element called a smart FET. It has integrated features to

protect itself and also the external pin, wiring and actuator.

• These outputs are capable of generating pulse width modulated (PWM) output signals.

• When used as an output, the input feature indicates the output FET's state

Pinout Map).

switch must be switched on as well.

Input (DI)

• This pin can be used as a digital input (DI)

• A pin of this type can also be used as an input by using the output state monitoring feature.

• In this case, the output functionality of the pin must be kept in the off state.

• It must be taken care in system design that the output unintentionally switching to on state

causes no harm to the system.

• This pin can be used also with NPN-type sensors – sensors with open collector/open drain.

Electrical characteristics

Symbol Parameter Conditions Min Max Units

Output Off, Pull-up selected,

V

Output volta ge

Level

Unconnected pin

typ. 8,3 V

Output On
(Note 7)

Io Nominal Output Current

0 4 A

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Technical Manual 5050 / MAN000539 Page 17/92

not selected

0,2V

Pulse Width

I

Internal current limitation Output On (Note 5, 9) typ. 8 A

o-lim

f

PWM Frequency (Note 1) 10 3000 Hz

PWM

Duty

Res

PWM

PWM

PWM
Duty cycle

(Note 2, 10) 0 to 100 %

PWM Resolution (Note 3) 0,1 %

Digital status input

RI Input Resistance

VIH

Digital status input
High Voltage level

Output Off, Pull-up resistor

typ. 12 kΩ

Output Off (Note6) 3,2 V

Digital status input

1,9 V

Uin +

V

I-range

VIL

tI

CI

Input Low Voltage

Input voltage range (Note 11) -0,5

Digital Status Input

Input pin capacitance typ. 1

Output Off

(Note 2, 4, 8) > tC ms

Note 1: The frequency of a (PWM) Pulse Width Modulation is = 1 / Period
Note 2: The duty cycle is defined as the percentage of digital ‘high’ to digital ‘low’ signals
present during a PWM period.
Note 3: The PWM resolution is defined as the maximum number of pulses that you can pack
into a PWM period.
Note 4: tC denotes the software cycle time.
Note 5: Current limit for short circuit protection to protect cabling and to limit internal power
dissipation.
Note 6: Exceeding the max value might cause damage to input.
Note 7: The maximum output current depends on the load, PWM frequency and temperature.
Note 8: The pulse width must be greater that the software cycle time. For example with 50/50
pulse ratio, the pulse frequency is 1 / (2*pulse width)
Note 9: When the limit is exceeded, the output voltage circuit starts to limit the current by

switching the output voltage. The switching does not effect the application software
Note 10: When the frequency increases, the actual duty cycle may be bigger than the value that
has been set.
Note 11: Overload conditions

V

nF

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Technical Manual 5050 / MAN000539 Page 18/92

Refer to section Connection Examples to see examples of how to connect external

Before the supply voltage can be connected to an output pin, the related power

Functional block diagram

actuators or sensors when using this type of pin.

4.3.2 PWM/DO/DI_Type006

Output (PWM/DO)

• This kind of pin is a current sourcing output with a pull-up selection

• In other words, the pin connec ts the load to a positiv e supply voltage.

• When the pull-up is selected, it will affect two output pins (the pairs are indicated with upper

case characters in the pin table's Group column in section

• This pull-up feature is for open load detection when the pin is used as an output.

• These outputs have a switching element called a smart FET. It has integrated features to

protect itself and also the external pin, wiring and actuator.

• These outputs are capable of generating pulse width modulated (PWM) output signals.

• When used as an output, the input feature indicates the output FET's state

Pinout Map).

switch must be switched on as well.

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Technical Manual 5050 / MAN000539 Page 19/92

The FET outputs are grouped into pairs:

Unconnected pin

(Note 7)

I

o-lim

Internal current limitation

Output On (Note 5, 9)

typ. 8

A

f

PWM

PWM Frequency

(Note 1)

10

3000

Hz

Duty cycle

Res

PWM

PWM Resolution

(Note 3)

0,1

%

not selected

High Voltage level

Input Low Voltage

0,2V

CI

Input pin capacitance

typ. 1

nF

• The maximum continuous current for a single output in the pair is 2,5 A.

• The maximum continuous current for the pair is 4 A.

The pairs are indicated with upper case characters in the pin table's Group column
in section

Pinout Map

Input (DI)

• This pin can be used as a digital input (DI)

• A pin of this type can also be used as an input by using the output state monitoring feature.

• In this case, the output functionality of the pin must be kept in the off state.

• It must be taken care in system design that the output unintentionally switching to on state

causes no harm to the system.

• This pin can be used also with NPN-type sensors – sensors with open collector/open drain.

Electrical characteristics

Symbol Parameter Conditions Min Max Units

V

Output voltage

Level

Io Nominal Output Current

PWM

PWM

Duty

Digital status input

RI Input Resistance

Digital status input

Digital status input

Input voltage range (Note 11) -0,5

Digital Status Input
Pulse Width

V

VIH

VIL

I-range

tI

Output Off, Pull-up selected,

Output On

typ. 8,3 V

0 2,5 A

(Note 2, 10) 0 to 100 %

Output Off, Pull-up resistor

typ. 13 kΩ

Output Off (Note 6) 3,2 V

Output Off 1,9 V

(Note 2, 4, 8)

Uin +

> tC ms

V

Note 1: Frequency of a (PWM) Pulse Width Modulation is = 1 / Period
Note 2: The duty cycle is defined as the percentage of digital ‘high’ to digital ‘low’ signals

present during a PWM period.
Note 3: The PWM resolution is defined as the maximum number of pulses that you can pack
into a PWM period.

Note 4: tC denotes software cycle time.
Note 5: Current limit for short circuit protection to protect cabling and to limit internal power

dissipation.

Note 6: Exceeding the max value might cause damage to input.
Note 7: The maximum output current depends on the load, PWM frequency and temperature.
Note 8: Pulse width must be greater that the software cycle time. For example with 50/50 pulse
ratio, the pulse frequency is 1 / (2*pulse width)

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Technical Manual 5050 / MAN000539 Page 20/92

Refer to section Connection Examples to see examples of how to connect external

Note 9: When the limit is exceeded, the output voltage circuit starts to limit the current by
switching the output voltage. The switching does not affect the application software.
Note 10: When the frequency increases, the actua l dut y cycle may be bigger than the value that
has been set.

Note 11: Overload conditions

Functional block diagram

actuators or sensors when using this type of pin.

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Technical Manual 5050 / MAN000539 Page 21/92

Before the supply voltage can be connected to an output pin, the related power

The FET outputs are grouped into pairs:

in section Pinout Map

R

Shunt

Shunt resistance

typ. 68

mΩ

Range

(FS)

+/-33,0

mA

(FS)

+/-117,0

mA

(Note 6, 9)

I

o-lim

Internal current limitation

Output On (Note 7)

0

2,5

A

mode

4.3.3 PWM/DO/DI/CM_Type007

Output (PWM or DO)

• This type of pin is a current sourcing output with a current measurement feature (the pin
connects the load to a positive supply voltage through the shunt resistors).

• These outputs have a switching element called a smart FET. It has integrated features to
protect itself and also the external pin, wiring and actuator.

• These outputs are capable of generating pulse width modulated (PWM) output signals.

• When used as an output, the input feature indicates the output FET's state

switch must be switched on as well.

• The maximum continuous current for a single output in the pair is 2,5 A.

Input (DI)

• This pin can be used as a digital input (DI)

• A pin of this type can also be used as an input by using the output state monitoring feature.

• In this case, the output functionality of the pin must be kept in the off state.

• It must be taken care in system design that the output unintentionally switching to on state

causes no harm to the system.

Current measurement

the current measurement feature
value more than 200 ms, the output is switched off)

Electrical characteristics

• The maximum continuous current for the pair is 4 A.

The pairs are indicated with upper case characters in the pin table's Group column

• When the pin is used as an output, the application can control the current with

• The firmware limits the maximum current to 2,5 A (when the current exceeds the

Symbol Parameter Conditions Min Max Units

I

o-range

I

acc-zero

I

acc-prop

Nominal Current Measuring

Offset error Calculated 'worst case'

Accuracy
Proportional factor

Io Nominal Output Current

f

PWM Frequency

PWM

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Calculated 'worst case'

Output On

In current measurement

0 3,5 A

+/-0,9

+/-3,2

0 2,5 A

50 200 Hz

%

%

Technical Manual 5050 / MAN000539 Page 22/92

(Note 1)

(Note 1)

Duty cycle

Res

PWM

PWM Resolution

(Note 3)

0,1

%

RI

Input Resistance

Output Off

typ. 13

kΩ

High Voltage level

Input Low Voltage

0,2V

Pulse Width

CI

Input pin capacitance

typ. 1

nF

Duty

PWM

PWM

In PWM mode

(Note 2, 10) 0 to 100 %

10 3000 Hz

Digital status input

Digital status input

Digital status input

Output Off (Note 5) 3,2 V

Output Off

Input voltage range (Note 11) -0,5

Digital Status Input

(Note 2, 4, 8)

1,9 V

Uin +

> tC ms

V

VIH

VIL

I-range

tI

Note 1: Frequency of a (PWM) Pulse Width Modulation is = 1 / Period
Note 2: The duty cycle is defined as the percentage of digital ‘high’ to digital ‘low’ signals
present during a PWM period.
Note 3: The PWM resolution is defined as the maximum number of pulses that you can pack
into a PWM period.
Note 4: tC denotes software cycle time.
Note 5: Exceeding the max value might cause damage to input.
Note 6: The maximum output current depends on the load, PWM frequency and temperature.
Note 7: The firmware limits the maximum current to 2,5 A. When the current exceeds the value

more than 200 ms, the output is switched off. The current can be adjusted to be less than 2,5 A
by software.
Note 8: Pulse width must be greater that the software cycle time. For example with 50/50 pulse
ratio, the pulse frequency is 1 / (2*pulse width)
Note 9: When both outputs in the pair are used, the total power output can be up to 4A. For
example if output1 continuous load is 2,5A then continuous max load for output2 is 4A – 2,5 A =
1,5A.
Note 10: When the frequency increases, the actual duty cycle may be bigger than the value that
has been set.
Note 11: Overload conditions

V

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Technical Manual 5050 / MAN000539 Page 23/92

Refer to section Connection Examples to see examples of how to connect external

Functional block diagram

Other Information

actuators or sensors when using this type of pin.

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Technical Manual 5050 / MAN000539 Page 24/92

Before the supply voltage can be connected to an output pin, the related power

The FET outputs are grouped into pairs:

in section Pinout Map

The measured voltage must not exceed the operating voltage!

4.3.4 PWM/DO/DI/CM_Type008

Output (PWM/DO)

• This type of pin is a current sourcing output with a current and voltage measurement
features (the pin connects the load to a positive supply voltage through the shunt resistors).

• These outputs have a switching element called a smart FET. It has integrated features to
protect itself and also the external pin, wiring and actuator.

• These outputs are capable of generating pulse width modulated (PWM) output signals.

• When used as an output, the input feature indicates the output FET's state

switch must be switched on as well.

• The maximum continuous current for a single output in the pair is 2,5 A.

Input (DI/AI)

• This pin can be used as a digital input (DI)

• A pin of this type can also be used as an input by using the output state monitoring feature.

• In this case, the output functionality of the pin must be kept in the off state.

• These pins may also be used as analog inputs (AI)

• It must be taken care in system design that the output unintentionally switching to on state

causes no harm to the system.

• It’s highly recommended to use closed loop connections when the output pin is used as an
input. By keeping this simple principle in mind, will help avoid problems later on.

Voltage measurement

the voltage measurement feature
level

• The maximum continuous current for the pair is 4 A.

The pairs are indicated with upper case characters in the pin table's Group column

• When the pin is used as an output, the application can control the voltage with

• When the pin is used as an input, the application can measure the input voltage

Current measurement

• When the pin is used as an output, the application can control the current with

the current measurement feature

• The firmware limits the maximum current to 2,5 A (when the current exceeds the

value more than 200 ms, the output is switched off)

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Technical Manual 5050 / MAN000539 Page 25/92

Measuring Range

+/-0,9

%

+/-33,0

mA

+/-3,2

%

117,7

(Note 1)

ks bl6

Input Low Voltage

range

Proportional factor

+/-0,1

%

+/-55

mV

Electrical characteristics

Symbol Parameter Conditions Min Max

R

Shunt

I

o-range

f

Cut-Off

Shunt resistance
Nominal Current

Cut-off frequency

Output current
measuring

typ. 68 mΩ

0 3,5 A

typ. 50 Hz

Iacc-zero

Offset error Calculated 'worst case'

I

acc-prop

Io

I

o-lim

Accuracy
Proportional factor

Nominal Output Current

Internal current limitation

Calculated 'worst case'

Output On
(Note 6, 8)

Output On
(Note 7)

+/-

0 2,5 A

2,5 A

In current measurement

f

PWM Frequency

PWM

mode

In PWM mode
(Note 1)

50 200 Hz

10 3000 Hz

Units

mA (FS)

Duty

Res

PWM

PWM

Duty cycle

PWM Resolution (Note 3) 0,1 %

PWM

Digital status input

Input Resistance
Digital status input

High Voltage level
Digital status input

Input voltage range (Note 12) -0,5 Uin + 0,2V

Digital Status Input
Pulse Width

Input pin capacitance

V

I-range

RI

VIH

VIL

tI

CI

Output/input voltage monitoring

Nominal Output/input

V

0-range

V

I-prop

Voltage measuring

Measuring accuracy

(Note 2, 9)

Output Off
Output Off (Note 5)

Output Off

0 to 100 %

Typ. 12 kΩ

3,2 V

1,9 V

(Note 2, 4, 11)

> tC ms

typ. 1

nF

(Note 10) 0 55 V

Calculated

+/-1 %

V

V

Offset Error Calculated

I-zero

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Technical Manual 5050 / MAN000539 Page 26/92

Refer to section Connection Examples to see examples of how to connect external

Note 1: Frequency of a (PWM) Pulse Width Modulation is = 1 / Period
Note 2: The duty cycle is defined as the percentage of digital ‘high’ to digital ‘low’ signals

present during a PWM period.
Note 3: The PWM resolution is defined as the maximum number of pulses that you can pack
into a PWM period.

Note 4: tC denotes software cycle time.
Note 5: Exceeding the max value might cause damage to input.
Note 6: The maximum output current depends on the load, PWM frequency and temperature.
Note 7: The firmware limits the maximum current to 2,5 A. When the current exceeds the value

more than 200 ms, the output is switched off. The current can be adjusted to be less than 2,5 A
by software.
Note 8: When both outputs in a same package are used the total power output can be up to 4A.
For example if output1 continuous load is 2,5A then continuous max load for output2 is 4A –
2,5A = 1,5A.
Note 9: When the frequency increases, the actual duty cycle may be bigger than the value that
has been set.
Note 10: The output must be kept in off state when used as an input. The measured voltage
must not exceed the input voltage.
Note 11: Pulse width must be greater that the software cycle time. For example with 50/50
pulse ratio, the pulse frequency is 1 / (2*pulse width)

Note 12: Overload conditions

Functional block diagram

Other Information

actuators or sensors when using this type of pin.

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Technical Manual 5050 / MAN000539 Page 27/92

DI/PI_Type001

X

X

DI/PI_Type002

DI/PI_Type003

X

RI

Input Resistance

Referenced to GND (Note 1)

typ. 12,4

kΩ

(Note 2)

enabled (Note 2)

VIH

Input High Voltage level

+10V range (Note 3)

7,0

50 V VIL

Input Low Voltage level

+10V range

0,0

5,0 V VIH

Input High Voltage level

+5V range (Note 3)

3,9

50 V VIL

Input Low Voltage level

+5V range

0,0

2,8

V

V

I-max

Max Input voltage

(Note 6)

-5

60

V

(normal digital input)

(pulse input mode)

4.4 Digital Input / Pulse Input

This product has three different types of DI/PI pins. The following table shows their differences:

Input

Pin type

Pull-up

selection

voltage

range

selection

4.4.1 DI/PI_Type001

• This type of pin is a ground referenced input (DI) including a pulse counting (PI) feature.

• Pulse inputs can be used as a 1 or 2 channel pulse counter and they have a reset

possibility. Possible software channels and pairs are listed in section

Pulse Inputs.

• The configurable features are controlled by two control signals:

• pull-up enable selection

• input voltage range selection

• When the pull-up to internal +10V is enabled, it controls two input pins as one. The pairs

are indicated with lower case characters in the pin table's Group column in section

Map.

• The input voltage range selection controls two input pins as one. This local signal defines
threshold voltage levels for both inputs. This feature provides more flexibility to sensor
connections. The pairs are indicated with lower case characters in the pin table's Group
column in section

Pinout Map.

Electrical characteristics

SW channels for

Pinout

Symbol Parameter Conditions Min Max Units

RPU Pull-up Resistance

V

Output voltage

Level

Input Frequency

fI

Input Frequency

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Referenced to +10V

Unconnected pin, +10V_PU

typ. 2,2

typ. 8,3 V

tC = 4 ms (Note 4, 5, 8, 9) 250 Hz

(Note 7, 10) 5 20000 Hz

kΩ

Technical Manual 5050 / MAN000539 Page 28/92

(pulse counting)

CI

Input pin capacitance

typ. 1

nF

Refer to section Connection Examples to see examples of how to connect external

Input Pulse Width

tI

(Note 7) 0,025 250 ms

Note 1: A pull-up resistor is not selected.
Note 2: When pull-up resistor is selected.
Note 3: Exceeding the max values might cause damage to input.
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.
Note 6: Overload conditions.
Note 7: Violating this rating may lead to system not recognizing all input state transitions.
Note 8: Pulse width must be greater that the software cycle time. For example with 50/ 50 pulse
ratio, the pulse frequency is 1 / (2*pulse width)
Note 9: tC denotes software cycle time.
Note10: Max value can be reached b y 2-98% pulse ration.

Functional block diagram

Other Information

actuators or sensors when using this type of pin.

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Technical Manual 5050 / MAN000539 Page 29/92

RI

Input Resistance

typ. 12,4

kΩ

VIH

Input High Voltage level

(Note 1)

6,2

50 V VIL

Input Low Voltage level

0,0

4,1

V

V

I-max

Max Input voltage

(Note 6)

-5

60

V

(normal digital input)

(pulse counting)

(pulse counting)

CI

Input pin capacitance

typ. 1

nF

Refer to section Connection Examples to see examples of how to connect external

4.4.2 DI/PI_Type002

• This type of pin is a ground referenced input (DI) including a pulse counting (PI) feature.

• Pulse inputs can be used as a 1 or 2 channel pulse counter and they have a reset

possibility. Possible software channels and pairs are listed in section

Pulse Inputs.

• This type of pin has no configurable features

Electrical characteristics

Symbol Parameter Conditions Min Max Units

SW channels for

Input Frequency

fI

Input Frequency

Input Pulse Width

tI

tC= 4ms (Note 2,3,4,7) 250 Hz

(Note 5,8) 5 20000 Hz

(Note 5) 0,025 250 ms

Note 1: Exceeding the max values might cause damage to input.
Note 2: These parameters depend on software cycle time.
Note 3: Applies to inputs used as normal digital input. Violating this rating may lead to
application program not noticing all input state transitions.
Note 4: Pulse width must be greater that the software cycle time. For example with 50/50 pulse
ratio, the pulse frequency is 1 / (2*puls e width)
Note 5: Violating this rating may lead to system not recognizing all input state transitions.
Note 6: Overload conditions.
Note 7: tC denotes software cycle time.
Note 8: Max value can be reached by 2-98% pulse ration.

Functional block diagram

Other Information

actuators or sensors when using this type of pin.

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Technical Manual 5050 / MAN000539 Page 30/92

RI

Input Resistance

Referenced to GND (Note 1)

typ. 12,4

kΩ

2)

enabled (Note 2)

VIH

Input High Voltage level

(Note 3)

6,2

50 V VIL

Input Low Voltage level

0,0

4,1 V V

I-max

Max Input voltage

(Note 6)

-5

60

V

(pulse counting)

(pulse counting)

CI

Input pin capacitance

typ. 1

nF

4.4.3 DI/PI_Type003

• This type of pin is a ground referenced input (DI) including a pulse counting (PI) feature.

• Pulse inputs can be used as a 1 or 2 channel pulse counter and they have a reset

possibility. Possible software channels and pairs are listed in section

Pulse Inputs.

• The configurable features are controlled by a control signal:

• pull-up enable selection

• When the pull-up to internal +10V is enabled, it controls two input pins as one. The pairs

are indicated with lower case characters in the pin table's Group column in section

Map.

Electrical characteristics

Symbol Parameter Conditions Min Max Units

SW channels for

Pinout

RPU Pull-up Resistance

V

Output voltage

Level

Input Frequency
(normal digital input)

fI

Input Frequency

tI

Input Pulse Width

Referenced to +10V (Note

Unconnected pin, +10_PU

tC= 4ms (Note 4,5,9)

typ. 2,2 kΩ

typ. 8,3 V

250 Hz

(Note 7,8,10) 5 20000 Hz

(Note 7) 0,025 250 ms

Note 1: A pull-up resistor is not selected.
Note 2:When pull-up resistor is selected.
Note 3: Exceeding the max values might cause damage to input.
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.
Note 6: Overload conditions
Note 7: Violating this rating may lead to system not recognizing all input state transitions.
Note 8: It is possible to configure a smaller minimum frequency for some of the pins, see I/O

table (Information column) in section

I/O List.

Note 9: tC denotes software cycle time.
Note10: Max value can be reached b y 2-98% pulse ration.

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Technical Manual 5050 / MAN000539 Page 31/92

Refer to section Connection Examples to see examples of how to connect external

Functional block diagram

Other Information

actuators or sensors when using this type of pin.

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Technical Manual 5050 / MAN000539 Page 32/92

If there is no need for the reset functionality, reserve the pins from the bottom end.

Possible SW Channels

reset pin for the channel

pair above

reset pin for the channel

reset pin for the channel

above

pair above

et pin for the channel

pair above

reset pin for the channel

reset pin for the channel

above

pair above

4.4.4 Software Channels for Pulse Inputs

Possible software channels for pulse inputs are listed in the following table according to how
many channels are needed and if a possibility for a reset is required.

This way the pins with the reset possibility remain free for possible future use.

Pin

X2.06
X2.07

X2.08

X2.09
X2.15
X2.18
X3.07
X3.10

X2.16

X2.17
X2.19
X2.20

Possible SW

Channels when

1 channel is

needed with no

reset

1
2

3

4
5
6
7
8

9

10
11
12

Possible SW

Channel pairs

when 2 channels

is needed with no

reset

pair 1

pair 2

pair 3

pair 4

pair 5

pair 6

when 1 channel is

needed with a reset

channel A channel A

above

channel A

above

channel A channel B

channel A channel A

res

above

channel A

above

channel A channel B

Possible SW Channels

when 2-channel pulse
input is needed with a

reset

channel B

reset pin for the channel

channel A

reset pin for the channel

channel B

reset pin for the channel

channel A

reset pin for the channel

X3.08
X3.09
X3.11
X3.12
X3.05
X3.06
X3.21
X3.22
X3.23
X1.11

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13

not supported not supported

pair 7

14 not supported not supported
15

not supported not supported

pair 8

16 not supported not supported
17

not supported not supported

pair 9

18 not supported not supported
19

not supported not supported

pair 10

20 not supported not supported
21

not supported not supported

pair 11

22 not supported not supported

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Technical Manual 5050 / MAN000539 Page 33/92

When measuring current (mA), the sensor connected to 5050 unit’s AI/DI pin must
sensor’s input signal is not received correctly.

range

VPU

Pull-up voltage

(Note 1)

typ. 10

V

measuring range

range

Voltage mode (Note 2)

typ. 47,5

kΩ

Current mode (Note 2)

typ. 220

Ω

RPU

Pull-up Resistance

typ. 2,21

kΩ

Voltage mode

typ. 0,78

ms

Current mode

typ. 1,55

ms

Low Pass Filter

factor

Proportional factor

+/- 0,1

% +/-10

mV

0,022

4.5 Analog Input / Digital Input

4.5.1 AI/DI_Type011

• This type of pin is an analog input and a digital input

• The configurable features are controlled by two control signals:

• One control signal is for selecting:

• Voltage mode: High impedance input for signal from 0 to 10V with or without

pull-up.

• Current mode: Low impedance input for signal from 0 to 22mA.

• One control signal is for selecting (when in voltage mode):

• Pull-up mode to +10V by a resistor

• Pull-up mode to GND by a resistor

Configure the pin to current mode before applying the current signal.

not be powered up before the 5050 control unit is operational. Otherwise the

Electrical characteristics

Symbol Parameter Conditions Min Max Units

VI

V

I-PU

II

Input Voltage measuring

Pull-up Voltage

Input Current measuring

Voltage mode 0,0 10,0 V

Voltage mode 0,0 10,0 V

Current mode 0,0 22,7 mA

RI Input Resistance

Time Constant of Input

tI

Low Pass Filter

t

I-pull-up

Time Constant of Pull-up

Pull-up voltage measuring

typ. 0,78 ms

Input Measuring

V

I-prop

accuracy Proportional

Calculated +/-1 %

Pull-up Voltage

V

I-prop-PU

Measuring accuracy

Calculated

Voltage mode

V

Offset Error

I-zero

Calculated
Current mode

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+/-1 %

+/-

mA

Technical Manual 5050 / MAN000539 Page 34/92

Calculated

CI

Input pin capacitance

typ. 1

nF

3)

Refer to section Connection Examples to see examples of how to connect external

V

I-max

Max Input voltage

Overload conditions (Note

Note 1: Temperature-dependent.
Note 2: Referenced to GND.
Note 3: Exceeding the max value might cause damage to input.

Functional block diagram

-5 50 V

Other Information

actuators or sensors when using this type of pin.

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Before the supply voltage can be connected to the pin, the related power switch

RON

On-resistance

Output On

250

mΩ

(Note 1)

RI

Input Resistance

Output Off

typ. 12,4

kΩ

High Voltage level

Low Voltage level

0,2V

Low Pass Filter

CI

Input Capacitance

typ. 1

nF

4.6 Digital Output / GND

4.6.1 DO_GND/DI_Type010

Output

• This type of pin is a current sinking output

• In other words, this type of output connects the loads to the ground (GND) and

simultaneously the state of the output can be monitored with an input.

must be switched on as well.

Input

• This type of pin can also be used as an input

• In this case, the output functionality of the pin must be kept in the off state.

• It must be taken care in system design that the output unintentionally switching to on state

causes no harm to the system.

Electrical characteristics

Symbol Parameter Conditions Min Max Units

Output On,

II Nominal Input Current

VDC

LOAD

< max V

I-range

0 3 A

Digital status input

VIH

VIL

V

I-range

t

I-status

Digital status input

Digital status input

Output Off (Note 2) 3,2 V

Output Off

Input voltage range (Note 2) -0,5

Time Constant of Status

Output Off typ. 1,55 ms

1,4 V

Uin +

Note 1: Parameter is defined by resistive load.
Note 2: Exceeding the max value might cause damage to input.

V

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Refer to section Connection Examples to see examples of how to connect external

Functional block diagram

Other Information

actuators or sensors when using this type of pin.

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Technical Manual 5050 / MAN000539 Page 37/92

V

oLevel

Output voltage

Output On, Unconnected pins

typ. 5,0

V

V

oLevel

≥ 4,75

Co

Output Capacitance

On each pin

typ. 47

nF

V

I-max

Max Input voltage

Overload conditions (Note 1)

-0,5

50

V

measuring range

Proportional factor

+/-0,1

%

+/-28,5

mV

4.7 Reference voltage supply pins

4.7.1 +5V REF_Type015

• This is an internally regulated and monitored reference voltage supply for external devices.

• This reference output can be switched on/off by application.

Overload protection

If the output current exceeds the nominal output current, then the output voltage is less than the
specified voltage level.

Voltage monitoring

The level of the output voltage can be monitored by application.

Electrical characteristics

Symbol Parameter Conditions Min Max Units

Output On,

Io Nominal Output Current

U

= 8,3 - 36 V

in

0 350 mA

Voltage monitoring

V

o-range

V

o-prop

Nominal Voltage

Measuring accuracy

0 28,5 V

Calculated +/-1 %

V

Offset Error Calculated

o-zero

Note 1: When output voltage is under overload conditions, for example, short circuit to supply
voltages. Exceeding the max value might cause damage to output.

Functional block diagram

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Technical Manual 5050 / MAN000539 Page 38/92

V

oLevel

Output voltage

Output On, Unconnected pins

typ. 10,0

V

V

oLevel

≥ 9,75

Co

Output Capacitance

On each pin

typ. 47

nF

V

I-max

Max Input voltage

Overload conditions (Note 1)

-0,5

50

V

measuring range

Proportional factor

+/-0,1

%

+/-28,5

mV

4.7.2 +10 V REF_Type004

• This is an internally regulated and monitored reference voltage supply for external devices.

• This reference output can be switched on/off by application.

Overload protection

If the output current exceeds the nominal output current, then the output voltage is less than the
specified voltage level.

Voltage monitoring

The level of the output voltage can be monitored by application.

Electrical characteristics

Symbol Parameter Conditions Min Max Units

Output On,

Io Nominal Output Current

U

= 8,3 - 36 V

in

0 250 mA

Voltage monitoring

V

o-range

V

V

o-prop

o-zero

Nominal Voltage

Measuring accuracy

0 28,5 V

Calculated +/-1 %

Offset Error Calculated

Note 1: When output voltage is under overload conditions, for example, short circuit to supply
voltages. Exceeding the max value might cause damage to output.

Functional block diagram

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Technical Manual 5050 / MAN000539 Page 39/92

Supply Logic

20 A.

Supply1

Supply1

20 A.

Supply2

14 A.

4.8 Power supply pins and limitations

Power supply pins are located in the following pins:

Connector

pin number

Pin Name

Current /
Pin Note

X1.1

X1.24

X2.1

X2.2

X2.24

X2.25

X3.1

X3.2

X3.24

X3.25

X2.5

X3.20

X1.8
X2.4

X3.13

LOGIC GND

Power

Power1 GND 10 A The maximum sum of
Power1 GND 10 A

GND pin currents
should not
continuously exceed

Power

Power

10 A

10 A

The maximum sum of
supply pin currents
cannot exceed 14 A.

Power2 GND 10 A The maximum sum of
Power2 GND 10 A

GND pin currents
should not
continuously exceed

Power

Power
Supply2

+5 V REF
+5 V REF
+10 V REF
+10 V REF

+10 V REF

10 A

10 A

The maximum sum of
supply pin currents
should not
continuously exceed

The following table describes which power gives certain pins the currency needed:

Connector

pin

number

Pin Type Powered by

Current/

voltage
X1.12 PWM/DO/DI/CM
X1.22 PWM/DO/DI
X1.23 PWM/DO/DI/CM
X1.29 PWM/DO/DI
X1.30 PWM/DO/DI
X1.31 PWM/DO/DI

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Power 1 2A
Power 1 4A
Power 1 2A
Power 1 2A
Power 1 2A
Power 1 2A

Technical Manual 5050 / MAN000539 Page 40/92

X2.3

10 A

X2.10

10 A

X2.11

10 A

X2.12

10 A

X3.3

10 A

X3.4

10 A

X1.32 PWM/DO/DI
X1.33 PWM/DO/DI
X1.34 PWM/DO/DI
X1.35 PWM/DO/DI
X2.13 PWM/DO/DI/CM
X2.14 PWM/DO/DI/CM
X2.26 DO_GND
X2.27 DO_GND
X2.34 DO_GND
X2.35 DO_GND

X2.28 PWM/DO/DI/CM
X2.29 PWM/DO/DI/CM
X2.30 PWM/DO/DI/CM
X2.31 PWM/DO/DI/CM
X2.32 PWM/DO/DI/CM
X2.33 PWM/DO/DI/CM
X3.26 PWM/DO/DI/CM
X3.27 PWM/DO/DI/CM
X3.28 PWM/DO/DI/CM
X3.29 PWM/DO/DI/CM
X3.30 PWM/DO/DI/CM
X3.31 PWM/DO/DI/CM
X3.32 PWM/DO/DI/CM
X3.33 PWM/DO/DI/CM
X3.34 PWM/DO/DI/CM

X3.35 PWM/DO/DI/CM

Connector pin
number

Power 1 2A
Power 1 4A
Power 1 4A
Power 1 4A
Power 1 2A
Power 1 2A

Power 1 3A
Power 1 3A
Power 1 3A
Power 1 3A

Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A
Power 2 2A

Power 2 2A

Current / Pin Note

The maximum sum of GND pin currents cannot exceed
28 A.

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If the Logic power is >43 V, there is a risk that the control unit shuts down.
If Power1 or Power2 is > 43 V, the outputs in the group must be disabled.

VI

Nominal Input voltage

8,3

36

V

Uin = 24V

I

TOT-max

Max Total Current output

Power groups together

28 A I

PIN-max

Max through current per pin

T

amb

≤ 85°C

typ. 12,5

A

level

(Note 2)

threshold level

level

V

UVP

Undervoltage threshold level

typ. 7,5

V

level

(Note 5)

measuring range

Proportional factor

+/-0,1

%

+/-55

mV

Electrical characteristics

Symbol Parameter Conditions Min Max Units

P

Logic

V

I-Load-dump

V

I-max

V

OVP-Reg

V

OVP-oper.

Logic Power Consumption

Max Input transient Voltage

Max Continuous Input
Voltage level

Regulated Overvoltage

Operational Overvoltage

No external loads,

typ. 2,2 W

(Note 1) 97,5 V
Each power group

-58 60 V

typ. 43 V

(Note 3,4) 50 V

V

RVP

Reverse Voltage Protection

No extra facilities needed

-58 V

Voltage monitoring

V

V

I-range

I-prop

Nominal Input Voltage

Measuring accuracy

Calculated

0 55 V

+/-1 %

V

Offset Error Calculated

I-zero

Note 1: Load dump protection according to ISO7636-2: 2004 pulse 5, Us=+70V
Note 2: Limited functionality when the voltage is higher than the nominal. If the voltage is less
than 8,3 V, the control unit is in non-operational state.
Note 3: This parameter is only related to the logic power input.
Note 4: This parameter is influenced by +10V REF’s load level.
Note 5: Nominal voltage le vel wher e re verse prot ec ti o n will be acti vate d. Kee p in mind the fuse
parameters, such as the reaction time.

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Technical Manual 5050 / MAN000539 Page 42/92

4.9 Connection Examples

This section includes examples on how to connect some external actuators when using each
pin type:

Connection Examples for DI/PI_Type001

•
Connection Examples for DI/PI_Type002

•
Connection Examples for DI/PI_Type003

•
Connection Examples for PWM/DO/DI_Type005

•
Connection Examples for PWM/DO/DI_Type006

•
Connection Examples for PWM/DO/DI/CM_Type007

•
Connection Examples for PWM/DO/DI/CM_Type008

•

• Connection Examples for DO/GND_Type010

Connection Examples for AI/DI_Type011

•

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Technical Manual 5050 / MAN000539 Page 43/92

4.9.1 Connection Examples for DI/PI_Type001

The following figures show examples of how to connect external actuators when using the
DI/PI_Type001 pin:

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Technical Manual 5050 / MAN000539 Page 44/92

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4.9.2 Connection Examples for DI/PI_Type002

The following figures show examples of how to connect external actuators when using the
DI/PI_Type002 pin:

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4.9.3 Connection Examples for DI/PI_Type003

The following figures show examples of how to connect external actuators when using the
DI/PI_Type003 pin:

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Technical Manual 5050 / MAN000539 Page 47/92

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4.9.4 Connection Examples for PWM/DO/DI_Type005

The following figures show examples of how to connect external actuators when using the
PWM/DO/DI_Type005 pin :

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Technical Manual 5050 / MAN000539 Page 49/92

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4.9.5 Connection Examples for PWM/DO/DI_Type006

The following figures show examples of how to connect external actuators when using the
PWM/DO/DI_Type006 pin :

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Technical Manual 5050 / MAN000539 Page 51/92

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4.9.6 Connection Examples for PWM/DO/DI/CM_Type007

The following figures show examples of how to connect external actuators when using the
PWM/DO/DI/CM_Type007 pin:

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Technical Manual 5050 / MAN000539 Page 53/92

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Technical Manual 5050 / MAN000539 Page 54/92

4.9.7 Connection Examples for PWM/DO/DI/CM/Type008

The following figures show examples of how to connect external actuators when using the
PWM/DO/DI/CM_Type008 pin:

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Technical Manual 5050 / MAN000539 Page 55/92

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4.9.8 Connection Examples for AI/DI_Type011

Connection examples when using AI mode

The following figures show examples of how to connect external actuators when using the pin in
AI mode:

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Connection examples when using DI mode

The following figures show examples of how to connect external actuators when using the pin in
DI mode:

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In CAN1, it is possible to connect the internal termination resistor. For more

X1.19 (CAN1 L terminator)

X1.16 (CAN2 L)

X1.15 (CAN3 L)

X1.14 (CAN4 L)

5 BUS CONNECTIONS

5.1 CAN bus

CAN interface

• Codesys 2.3 IDE communication is supported for CAN1.

• Higher layer protocol is user programmable (CAN1, CAN2, CAN3, CAN4)

communication

• The physical interface of CAN is according to ISO 11898 and CAN 2.0B protocol

• The PLCopen application can be downloaded via CAN1.

• All interfaces support bit rates 10, 20, 50, 125, 250, 500, 800, 1000 kbit/s

• All interfaces can be configured as listen only mode. An exception is CAN1, which is in

boot up normal mode because it is used for Codesys communication.

• 11-bit and 29-bit message receive and transmit are supported.

• Transmitting of remote frames is supported in all CAN interfaces.

• Support for receiving one remote frame is supported. This is received for the control

unit's own node guard functionality.

CAN bus connection pi n s

This product contains 4 CANs for the CAN bus connection. CAN1 has duplicated pins, so it can
be easily used for chaining the control units.

information refer to section System topologies.

The CAN communication pins are located in the control unit's connector 1 (grey AMP35) as
follows:

Designation Pin number

CAN1 interface, system interface
user programmable communication

X1.5 (CAN1 H)
X1.6 (CAN1 H)
X1.7 (CAN1 H terminator)
X1.17 (CAN1 L)
X1.18 (CAN1 L)

CAN2 interface, user programmable

X1.4 (CAN2 H)

communication
CAN3 interface, user programmable

X1.3 (CAN3 H)

communication
CAN4 interface, user programmable

X1.2 (CAN4 H)

communication

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X1.28 (RD-)

5.2 Ethernet interface

Ethernet communication is only for software uploading.
Ethernet communication pins are located in the control unit's connector1 (grey AMP35) as

follows:

Designation Pin number

Ethernet interface X1.25 (TD+)

X1.26 (TD-)
X1.27 (RD+)

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Off - -

No supply voltage

times/second

second

initializations are done.

constantly on

error while running.

second

safe state.

active (depends of application)

LED

6 INTERNAL DIAGNOSTICS

6.1 LED Indicator

The LED indicator light is situated on the top side of the 5050 according to the following figure:

The LED has green and red indicators and they indicate different operating conditions according
to the following table:

LED State Green LED Red LED Explanation

NoApplication Blinks 5

ApplicationOk Blinks 2

- Firmware is running, no PLCopen application

- Application is running and the system is OK

times/

Starting LED is

constantly on

- Starting / Initializing
LED is continiously on from power on until the

application is running and the I/O / CAN

FatalError - LED is

ApplicationError - Blinks 2

times/

IOError - Blinks 5

times/second

Control unit bootup failed or a critical firmware

External PLCopen library controls, for example
when output controlling is disabled, so called

External PLCopen library controls, for example
when system is OK but there is short circuit in
one of the outputs or other similar error is

Update Blinks

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Blinks
alternately
with red LED

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alternately

with green

During firmware (and application*) update, red
and green LEDs are flashed alternately.

Technical Manual 5050 / MAN000539 Page 61/92

measuring range

Proportional factor

+/-0,1

%

+/-4,88

mV

Nominal PCB Temperature
measuring range

Proportional factor

+/-0,1

%

+/-4,88

mV

6.2 Temperature

This control unit has two temperature sensors: one for monitoring processor area temperature
and one for monitoring PCB area temperature.
The temperature information is useful for self diagnostic purposes and safety features.

Processor area temperature

This temperature sensor monitors the temperature near the microcontroller.

Symbol Parameter Conditions Min Max Units

Temperature monitoring

Core

Nominal Core Temperature

Temp

-40 125 °C

Temperature measuring

T

prop

accuracy

+/-1,0 %

V

Offset Error

zero

PCB area temperature

This temperature sensor monitors the PCB area temperature.

Symbol Parameter Conditions Min Max Units

Temperature monitoring

PCB

Temp

-40 125 °C

Temperature measuring

T

prop

V

zero

accuracy

Offset Error

+/-2,2 %

6.3 Error Log

The control unit's internal error log stores the firmware errors in a log. The error log contains two
memory areas: one for application and one for firmware.

For more information about the logs and how to read them, refer to Epec Programming and
Libraries Manual MAN000538.

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Radiated disturbance

CISPR 16-2-3

Conducted disturbance at mains ports

CISPR 16-2-1

Electrostatic discharge (ESD)

EN 61000-4-2

Radiated radio-frequency electromagnetic field

EN 61000-4-3

Electrical fast transients (EFT/B)

EN 61000-4-4

Conducted radio-frequency common mode

EN 61000-4-6

in the frequency range 30 – 1000 MHz

Annex 10

Annex 9

supply lines

7 APPROV ALS AND SAFETY

7.1 EMC Tests

Epec 5050 control units are certified according to EMC tests that are described in this section.
The following tables provide a summary of performed EMC tests:

Emission tests according to the test specification EN 61000-6-3

Emission test Test method

Immunity tests according to the test specification EN 61000-6-2

Immunity test Test method

Emission tests according to the E/ECE Regulation No. 10, Revision 3 (2008)

Emission test Test method Conclusion

Measurement of radiated interference field
strength

Measurement of conducted disturbances E/ECE Reg. No. 10,

1)

Limit values according to the E/ECE Regulation No. 10, Sections 6.5.2 and 6.6.2.

2)

Limit values according to the E/ECE Regulation No. 10, section 6.9.1.

E/ECE Reg. No. 10,
Annexes 7 and 8

Pass 1)

Pass 2)

Immunity tests according to the E/ECE Regulation No. 10, Revision 3 (2008)

Immunity test Test method Conclusion

Radiated radio-frequency electromagnetic field E/ECE Reg. No. 10,

Immunity to transient disturbances conducted
along

1)

The requirements defined in the E/ECE Regulation No. 10, section 6.7.2

2)

The requirements defined in the E/ECE Regulation No. 10, section 6.8.1.

E/ECE Reg. No. 10,
Annex 10

Pass 1)

Pass 2)

The following tables provide more detailed descriptions about the performed EMC tests:

Emission tests according to the E/ECE Regulation No. 10, Revision 3 (2008)

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(Broadband QP)

(Narrowband AVE)

+75

-100

+150

- 450

Radiated disturbance emission test

Conducted disturbances emission test

• Test method E/ECE Reg. No. 10, Annexes 7 and 8

Frequency

(MHz)

30 – 1000

30 – 1000

Limit value (dBmV/m)

62/52/63

52/42/53

• Test method E/ECE Reg. No. 10, Annex 10, ISO 7637-2:
2004

Port Limit level (V)

12V DC input

24V DC input

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1

C

2a B 2b

C

3a A 3b

A

4 C 5

C

1

3/2000 μs, -600 V, 5000 pulses

2a

1/50 μs, +112 V, 5000 pulses

2b

20V, 220 ms, 10 pulses

3a

5/100 ns, -300 V, 60 minutes

3b

5/100 ns, +300 V, 60 minutes

10 pulses

5

+70V 5 pulses

1

1/2000 μs, -150 V, 5000 pulses

2a

1/50 μs, +112 V, 5000 pulses

2b

10V, 220 ms, 10 pulses

3b

5/100 ns, +150 V, 60 minutes

10 pulses

5

+70V 5 pul ses

Immunity tests according to the E/ECE Regulation No. 10, Revision 3 (2008)

Immunity to transient disturbances
conducted along supply lines test

• Test method E/ECE Reg. No. 10, Annex 10, ISO 7637-2:
2004

• Performance criterion:

Pulse Criterion

• 24 V input, Pulse:

Pulse Pulse parameters

4 100 ms -20.5 (8.0) V, 20 s -16.5

(12.0) V,

• 12 V input, Pulse:

Pulse Pulse parameters

3a 5/100 ns, -212 V, 60 minutes

4 25 ms -6.0 (8.0) V, 5 s -2.5 (12.0) V,

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peak)

peak)

part6-3: residential, commercial and light industry

(MHz)

(dBmV/m)

30 – 1000

40/47 (QP)

Immunity of ESAs to electromagnetic
radiation

• Test method E/ECE Reg. No. 10, Annex 9

• Performance criterion: No degradation of ‘Immunity-related

functions'

• Sweep step: 1%, time/step: 3 s

Frequency

Specification

Range

Test level

(MHz)

Modulation

AM80% 1 kHz

PM

577/4600ms

20-800

800-2000

30 V/m

(constant

30 V/m

(constant

Classification of functional status

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

Class 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.

Class 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.

Class 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.

Class 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.

EN 61000-6-3 (2007)
Electromagnetic compatibility-generic emission standard

Radiated disturbance emission test

• Test method EN 55022, CISPR 16-2-3

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Frequency

Limit value

Technical Manual 5050 / MAN000539 Page 66/92

(MHz)

0,15 - 30

66/56/60 (QP)

0,15 – 30

56/46/50 (AVE)

part6-2: industrial environment

level

80

3s

port

(MHz)

level

80-2500

10 V/m

Test pulse

Port

Test level

frequency 5 kHz,

minute

port

Conducted disturbance at main ports emission test

• Test method EN 55022, CISPR 16-2-1

EN 61000-6-2 (2005)
Electromagnetic compatibility-generic immunity standard

Conducted radio-frequency common mode
immunity test

• Test method EN 61000-4-6

• Performance criterion A

Radiated radio-frequency electromagnetic field
immunity test

• Test method EN 61000-4-3

• Performance criterion A

Frequency

Limit value (dBmV)

Specification Port Test

Frequency

range 0,150-

DC

input

10 Vemf

MHz

Modulation

AM80% 1 kHz

Sweep step

1%, time/step

Specification

Signal

ports

Range

10 Vemf

Test

Electrical fast transient (EFT/B) immunity test

Frequency range

80-2700 MHz

Modulation

AM 80% 1 kHz

Sweep step 1%,

time/step 3 s

• Test method EN 61000-4-4

• Performance criterion B

5 (Tr) / 50 (Th)

ns, repetition

duration 5

2500-

2700

DC input

Signal

port

3 V/m

± 2,0 kVp

± 1,0 kVp

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Discharge mode

Test level (kVp)

Contact

± 2, ± 4, ± 6

Indirect contact

± 2, ± 4, ± 6

Electrostatic discharge (ESD) immunity test

• Test method EN61000-4-2

• Performance criterion B

Air ± 2, ± 4, ± 8

Performance criteria for immunity tests

Performance criterion A:
The EUT shall continue to operate as intended during and after the test. No degradation of performance is
allowed.

Performance criterion B:
The EUT shall continue to operate as intended after the test. However, moderate degradation of performance
is allowed. No change of actual operating state or loss of memory functions is allowed.

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7.2 Environmental Tests

Test Ad

Test Bb

six test cycles

5 test cycles

2 test cycles

directions

direction

Test Ec

and corner

ISO 9227

for the protection class IP6X

The following environmental tests have been performed on Epec 5050 control units:

Temperature

Technical Manual 5050 / MAN000539 Page 68/92

Test Temperature

Duration/

Exposure time

Cold
IEC 60068-2-1 (2007-03),

-45 °C 16 h

Dry heat
IEC 60068-2-2 (2007-07),

70 °C 16 h

Damp heat cycling
IEC 60068-2-30 (2005-08),

+25 °C/+55 °C

Test Db

Change of temperature IEC
60068-2-14 (2009-01),

-50 °C/+60 °C 3 h

Test Na
Change of temperature IEC

60068-2-14 (2009-01),

-40 °C/+70 °C 3 h

Test Nb

Mechanical resistance
Test Duration and direction Remark

• pulse duration 6

Shock test IEC 60068-2-27
(2008-02) Test Ea

ms

• 500 impulses in
every six

• half sine pulse shape

• peak acceleration 500 m/s2

Remarks

• 1 °C/min

• 1 °C/min

• rel. humidity >90%

• cycle duration 24h

•

• change time between

extreme temperatures 1­2 min

•

• change of temperature

10 °C/min

•

Vibration, random
IEC 60068-2-64 (2008-04),
Test Fh

Free fall,
IEC 60068-2-31 (2008-05),

• test duration 60
min in every
three test

• one fall / direction
on each surface

• ASD-level 5 m2/s3, 10 … 200 Hz

• ASD-level 1,0 m2/s3, 200 … 500 Hz

• total spectral acceleration 3,54 grms

• fall height 100 cm

Corrosion
Test Temperature Duration Concentration

Salt spray test

+35 °C 24 h 5 % NaCl

Tightness tests for IP67

Test Duration and prosedure Remark

Dust test for IP6X according to
IEC 60529

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• exposed to the free
settling dust for 8
hours

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• no deposit of dust noticed inside

• complies with the requirements stated

Technical Manual 5050 / MAN000539 Page 69/92

1 l/min

+22 °C

Water test for IPX7 according to
IEC 60529

• under pressure
during the test 2 kPa

• flow rate of the air 0,

• immersion duration

30 minutes

• immersion depth
1000 mm

• water temperature

• no ingress of water noticed inside

• complies with the requirements stated

for the protection class IPX7

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8 MECHANICS AND CABLING

8.1 Unit Dimensions

Unit dimensions from the top:

Unit dimensions from the rear side:

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Control unit mounting location should be planned so that the machine's

When cleaning the control unit, do not use highly alkaline / acidic substances,

In moist conditions, the module must be mounted and oriented so that the

Unit dimensions from the side:

8.2 Mounting and Cleaning

washing does not damage the unit.
A direct water jet towards the control units should be avoided, especially when

using high pressure. Also, the use of any such solvent that causes damage to
electronic devices should be avoided when handling the control units.

too hot water, or too heavy mechanical abrasion.

connectors are not filled with water.

• The mounting is done with 3 pieces of M6 screws to DIN 912

• It is possible to use a spring washer under the screw head

• Mounting must be done on to a conductive metal base. The control unit's aluminum

housing must have a galvanic connection to the machine frame

• 3-point mounting allows mounting on a slightly uneven surface

• Reserve 10 cm installation space for the connector cables

• Mounting position must be horizontal or vertical to allow water, etc. flowing away from

connectors, see the figures below.

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Do not mount the unit in a position where the bottom side or the connectors are facing up.

Do not mount the unit in a position where the connector side is facing up.

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When connecting, make sure that:

wires are bound to the control unit cover base knob with cable ties

8.3 Plugging and unplugging the cables/connectors

All Epec control units use heavy duty gold plated, locked and sealed AMPSEAL connectors.
The following figure shows an example of an AMP23 connector:

• Gold plated AMPSEAL connectors pack a current of 15 amperes per contact and
tolerate operating temperature range.

• All module connectors are mechanically keyed to mate only with identical colors (blue,
grey and black).

• connectors are pressed down to the bottom and that they are locked

• connectors are clean (avoid moisture or dirt inside the connector)

• unused connectors are covered with empty connectors of the same

• all cables, connectors and tools are of correct type, and sufficiently high

• there is a sufficient margin (slack) left in the cables to prevent the

•

The following figure describes some general instructions about the connectors.

color (this helps to keep the control unit connectors dry and protected)
quality, and suitable for this kind of use (protection for moisture,

mechanical stability, power durability, coupling resistance among other
things)

torsion of the connectors

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Refer to AMP Application Specification 114-16016 for more detailed information on connectors
and cable recommendations.

Ordering codes for the AMP connectors, crimps and tools are listed in Section

Accessories.

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Generally, cabling should be properly designed and documented to help the initial

The cables must be run in a safe route along the machine frame.

The cable lengths presented here are approximates. Actual cable lengths also
(possible interference).

8.4 Cabling

8.4.1 System Topologies

assembly and maintenance.
It is highly recommended to mark each cable on both ends to avoid confusion and
errors.

When routing cables, avoid interfering objects and pay particular attention to
moving parts of the machine.
It is also good to minimize the amount of the connection points of the cable harness
to maximize reliability.
Also, all valid safety instructions should be observed when coupling.

• The control units are connected with each other using standardized CAN bus.

• The idea of the Epec embedded control system, is that all the control units are installed

close to sensors, encoders and other equipment connected to them.

• This way the amount of the traffic on the CAN bus is minimized and
connections can be made using short wires.

Termination resistors

• Generally, the bus cable is terminated at both ends with termination resistors (ISO
11898:1993).

• In Epec 5050, there are two different types to connect terminal resistor:

• In CAN1, termination resistor can be connected internally as shown in

the figure Example1 below

• In all the CANs (CAN1, CAN2, CAN3 and CAN4), the termination
resistor can be external

depend on the cable quality, the cable type and also on the machine environment

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Example1. Termination resistor connection in CAN1

Example 2. Control system topology in theory with maximum bus speed (1000 kbit/s); Control

Units in traditional bus arrangement. For more information about the bus speeds, refer to CiA
DS-102 standard.

Example 3. The usage of the termination resistor (TR) in a conventional bus. The maximum
recommended bus length is directly dependent on the bus speed.
In theory, the maximum length with the maximum speed can be up to 25 meters. If the bus
speed is lower, the length can be extended.
The maximum length of the bus depends on the bus speed. For more information about the
bus speeds, see the table below / refer to CiA DS-102 standard.

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Technical Manual 5050 / MAN000539 Page 77/92

1 Mbits/s

25 m

800 kbits/s

50 m

500 kbits/s

100 m

250 kbits/s

250 m

125 kbits/s

500 m

50 kbits/s

1000 m

20 kbits/s

2500 m

10 kbits/s

5000 m

The CAN bus cable is the neural backbone of the whole system and should be designed and

The following table shows some baud rates in general purpose CAN bus networks as well as
the maximum bus length for a given baud rate, that CAN in Automation (CiA) international users
and manufacturers group has recommended to be used. For more information, refer to CiA DS­102 standard.

CAN bus baud rates and bus lengths according to CiA DS-102 standard

Baudrate Bus length

8.4.2 CAN Bus

constructed with extra care.

• In all Epec 5050 control units, the bus connections can be found in grey AMP 35 pin
connector (connector1).

• 5050 control unit's CAN1 is equipped with double pins that enables cabling without
branching the wire harness

• For information about the CAN bus lengths and baud rates, refer to section

System

Topologies.

Cable

• It is recommended to use high quality and twisted (approx. 1 round/ 1 inch) CAN bus cable.

• Normal UTP (Unshielded Twisted Pairs) cable is well suited for distances under

approximately 10 meters.

• In longer distances, and especially if there is possibility for electromagnetic interference, it
is highly recommended to use shielded and twisted cable for CAN bus, also for shorter
distances.

• To avoid electromagnetic interference (EMI), locate the bus cable as far away from high-
current carrying cables as possible. Generally, the amount of the connections and
connectors should be minimized to maximize security; also all connections should be done
carefully.

• The shield grounding must be done only in one end of the cable

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Cable shield

Connection example when there is a GND pin available in the control unit:

Connection example when there is not a GND pin available in the control unit:

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The maximum length of a working connection is 100 meters.

27 (rxd+)

3 (rxd+)

3

White/green

25 (txd+)

1 (txd+)

2

White/orange

28 (rxd-)

6 (rxd-)

3

Green

26 (txd-)

2 (txd-)

2

Orange

4 1

Blue

5 1

White/blue

7 4

White/brown

8 4

Brown

8.4.3 Ethernet

In order that the electromagnetic interference (EMI) would not effect the data transfer, the
installation of the cable should be done as close as possible to the body of the machine.

It is recommended to wire the cable under the shelter of mechanical hits if the installation
environment makes it possible.
The cable must be installed as far away as possible from other cables with high power.

• In all Epec 5050 control units the Ethernet connections can be found in the grey AMP
35 pin connector (connector1).

• This Ethernet connection is based on 10BASE-T connection where two twisted pairs
are used.

• This AMP 35 connector is not a standard connecting format and to get the best
operation reliability the following issues should be considered in circuitry and
installation; type of the used cable, connecting the cable and the installation method.

Cable

If the installation environment requires a cable that takes heat and low temperature, the
minimum demand for the cable is under 20 m with connection Outdoor UTP Cat5E 4Pairs
(Water Blocking / UV Resistant).
For longer connections it is recommended to use cable Outdoor UTP Cat6 4Pairs (Water
blocking / UV Resistant), similar to it or better.

• (SFTP = Shielded Foiled Twisted Pa ir )

• (FTP = Foiled Twisted Pair)

• (STP = Shielded Twisted Pair)

• (UTP= Unshielded Twisted Pair)

Ethernet cable connection with Epec 5050 control units:
AMP35 pin RJ45 male pin Pair Color

(according to T568B
standard)

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Closed circuit loops are always recommended and mandatory when you are

the same power group, see the figures below.

When measuring current (mA), the sensor connected to 5050 unit’s AI/DI pin
the sensor’s input signal is not received correctly.

8.4.4 I/O Cabling

using DO or PWM pin as an input.
Closed circuit loop means that the power supply for the sensor must return to

must not be powered up before the 5050 control unit is operational. Otherwise

• The cabling for encoders etc. is in many cases supplied together with them.

• In many cases, very simple basic cable may be used, e.g. automobile R2 cable (0,5 or 1,0)

by NK Cables.

• Dimensions of the cable should be appropriate for AMP contacts (so that crimping is
possible).

• Refer to AMPSEAL table (in section

• Take extra care for protecting the cables against physical wear and damage.

• Normally, only one wire can be connected to one AMPSEAL connector pin. However, if

more than one wire has to be connected to one connector pin, it has to be connected by
branch wiring.

• Some voltage inputs use relatively low voltages.

• Consider using shielded cables for these encoders etc. especially for longer distances

to increase safety

• Using shielded cable is recommended also in joystick connections.

Accessories) for dimensions.

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The following figures describe the closed loop wiring:

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Do not connect the closed circuit loop as shown in the following figure:

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The following figure shows four different ways to connect closed circuit loop through the control
unit:

• Proportional valve (on the left)

• ON/OFF valve

• Joystick

• ON/OFF switch (on the right)

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The following figure shows three different ways to connect open circuit loop (from the control
unit’s point of view):

• Proportional valve (on the left)

• ON/OFF valve

• ON/OFF switch (on the right)

• All sensors and encoders must be wired according to the closed-loop principl e, i. e. the

power for the sensors and encoders is supplied by the module they are connected to.
This way, it is possible to avoid potential harmful differences, so the MOSFET driven
output power switching operates properly.

When designing the sensor and encoder connections, observe single-point grounding. Each
control unit connector has several GND pins which should be used.
Refer to section

Power supply pins and limitations for accurate pin allocation of connectors.

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The maximum continuous current per pin is 10 A.

8.4.5 Power supply

• The nominal operating voltage for Epec modules is 12 and 24 VDC. The full operating
range is 8,3 - 36VDC.

• See section

Power supply pins and limitations for accurate pin allocation of the connectors

when using Epec 5050 control unit.

• Single point grounding should be used for power supply for all the control units.

Power supply's wiring example when max 10 A is needed from Power 1 and Power 2:

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Power supply's wiring example when max 14 A is needed from Power 1 and max 10 A from
Power 2:

Power supply's wiring example when max 14 A is needed from Power 1 and max 14 A from
Power 2:

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Power supply's wiring example when max 10 A is needed from Power 1 and max 14 A from
Power 2:

Power supply's wiring when using one battery:

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Welding causes some high current flows and voltage peaks in the machine. It

Follow carefully the following instructions.

Disconnect all the connectors from the control units before welding.

Generally, even if the control system power is disconnected, welding should be

flow through machine frame.

Power supply's wiring when using two batteries:

8.5 Welding

should be noted that the electronics of the control system may be damaged, if the
welding current can get through the control unit itself.
So, when welding, it should be taken care to prevent high currents from going
through the control units or through the CAN bus.

done carefully and by following appropriate safety measures. Welding grounding
should be connected close to the welding point to avoid long distance high current

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Loading machine

Dumper

8.6 System Examples

Cabin control unit

• reads the joysticks and switches

• controls the boom and bucket

• controls the gearing

• controls the steering and brakes

• controls the lights

Rear frame control unit

• controls the engine

• controls the hydraulic pumps

• controls the rear lights

Tilt sensors

• measures the frame position

• measures the loader position

Display

• gauge

• diagnostics

• software updating

Cabin control unit

• reads the joysticks and switches

• controls the engine

• controls the gearing

• controls the driveshaft brake

• controls the steering and brakes

• controls the dump box

Display

• remote connection

• positioning

• gauge

• diagnostics

• software updating

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Landfill compactor

Cabin control unit

software updating

Backhoe

• reads the joysticks and

• controls the engine

• controls the transmission

• controls the steering

• controls the lights

Tamping sensors

• measures the degree of

Display

• remote connection

• positioning

• gauge

• diagnostics

•

Cabin control unit

• reads the joysticks and switches

• controls the excavator

• controls the roof lights

• booms' position calculation

Engine control unit

• controls the engine

• controls the front loader

• reads the fluid pressures and

Gearing control unit

• controls the gearing

• controls the suspension

Tilt sensors

• measures the frame position

• measures the excavator and front

Display

• gauge

• diagnostics

• software updating

Technical Manual 5050 / MAN000539 Page 90/92

switches

concentration

temperatures

loader positions

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Measuring adapter

E3003510

MAN000512

CAN adapter

E3003509

MAN000513

AMP 35 pin grey plug (female)

776164-4

KX0351

AMP 35 pin blue plug (female)

776164-5

KX0352

AMP 35 pin black plug (female)

776164-1

KX0353

Contact for AMP plug assembly

770854-3

KX0010

Crimping tool

58529-1

TT0018

Wire relief for a connector

776463-1

KX0354

0,5

20

0,8

18

1,4

16

2,4

8.7 Accessories and Ordering Codes

Related products

Product Epec ordering code Epec data sheet code

AMPSEAL Connectors

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

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

AMPSEAL product TE Connectivity

ordering code

Epec ordering code

AMPSEAL cable dimensions

Size

mm² AWG

Insulation

diameter range

Strip length ±0,4

1,7

to

2,7

5,1

2,2

1,5 ---

to

Typical hand crim ping tool e.g.: AM P Proc r im per 58529-1 (TE Connectivity), Epec ordering
code TT0018

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Technical Manual 5050 / MAN000539

© Epec Oy