Epec 2023 Control Module PDF
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Epec Epe c 20 202 23 C Con ontr trol ol Modul od ule e Technical Document
Document: 2023G05 Updated:
18.5.2009
© Epec Oy
Epec CAN Module Family 2023 CONTROL MODULE
2 / 40 18.5.2009 MAN000179-4-16391 / MAN000179
DOCUMENT VERSION HISTORY Date
Notes
18.5.2009 16.1.2009
Updated input high voltage for pins X1.1-X1.4 and updated section 3.4.2 (Pins X1.18…X1.23 and X2.20…X2.21). Separate d pins X1.18…X1.23 and X2.20…X2.21 into their own section.
1.10.2008
Document and layout updated
8.8.2007
Updated the amount of DI/PWM/DO pins, there are 16 pins instead of 8. Updated chapters “3.1 Configurable I/Os”, “3.4 Digital Input / PWM Output / Digital Output” and “3.6 I/O / IEC Map”
16.8.200 6
First released version
Epec Oy reserves all rights for improvements without prior notice notice Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
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TABLE OF CONTENTS 1
GENERAL ...........................................................................................................................5 ...........................................................................................................................5 1.1 Purpose of This Document Document ........................................................................................5 1.2 About Manufacturer Manufacturer ........................................................................ ...................................................................................................5 ...........................5 1.3 Epec CAN Module Module Fa Family mily .........................................................................................5 1.4 Basic skills required...................................................................................................5 1.5 Safety guideline guidelines s ............................................................................... .......................................................................................................5 ........................5 1.6 Warranty ..............................................................................................................6 1.7 Limited liability ...........................................................................................................7 ...........................................................................................................7 1.8 Environme Environmental ntal statement...........................................................................................7
2
I/O MODULE MODULE GENERAL DESCRIPTION ...........................................................................8 2.1 Prog Progr r a amming mming Environment........................................................................................8 2.1.1 Codesys 2.1 ..................................................................................................8 ..................................................................................................8 2.1.2 Codesys 2.3 ..................................................................................................9 ..................................................................................................9 2.2 CANopen Indexes ............................................................................. .....................................................................................................9 ........................9
3
IN INP PUT / OUTPUT SPECIFICATIONS...............................................................................10 3.1 Configurab Configurable le I/Os.....................................................................................................10 3.2 Digit Digita al Input / A Analog nalog Input Input ..................................................................................... ......................................................................................11 .11
3.3 3.4 3.5 3.6 3.7 3.8 3.9 4
3.2.1 Pins X3.3, X3.5, X3.7 and X3.10.................................................................11 3.2.2 Pin X3.18.....................................................................................................13 3.2.3 Pin X3.20.....................................................................................................14 3.2.4 Pin X3.22.....................................................................................................15 3.2.5 Pins X1.1, X1.2, X1.3 and X1.4...................................................................16 3.2.6 Pins X3.12, X3.13 and X3.14......................................................................17 X3.14 ......................................................................17 3.2.7 Pins X3.1 and X3.11....................................................................................18 X3.11....................................................................................18 Digital Input / Pulse Input.........................................................................................19 Digita Digit al Input / PWM Output / Digital Outp Output ut .............................................................21 3.4.1 Pins X1.5…X1.8 X1.5…X1.8 and X2.1 X2.1…X2.4 …X2.4 ...............................................................21 3.4.2 Pins X1.18…X1.23 X1.18…X1.23 and X2.20…X2.21 X2.20…X2.21 .......................................................23 Digital Input / Digital Output.....................................................................................26 Specification for Internal Internal Diagnostics Diagnostics ......................................................................27 Closed Loops Loops Wiring Wiring ......................................................................................... ...............................................................................................27 ......27 I/O / IEC Map...........................................................................................................28 AMPSEAL Connectors Connectors ............................................................................................29 ............................................................................................29
3.10 AMPSEAL Cable Dimensions Dimensions .................................................................................29 .................................................................................29 POWER SUPPLY..............................................................................................................30 4.1 Overvoltage ............................................................................................................30 4.2 Power Consumption Consumption ............................................................................................. ................................................................................................30 ...30 4.3 Power Supply Pins ...................................................................................... ..................................................................................................30 ............30
5
BUS CONNE CONNECTION CTION ..........................................................................................................31 ..........................................................................................................31 5.1 Bus Connection Connection Pins ...............................................................................................31 ...............................................................................................31 5.2 CAN Interface Interface ..........................................................................................................31 ..........................................................................................................31
6
ENVIRONMENTAL CHARACTERS CHARA CTERS .................................................................................32 6.1 Protection ............................................................................................................32 6.2 EMC Tests ............................................................................................................32 ............................................................................................................32 6.3 Environme Environmental ntal Tests ................................................................................................36 ................................................................................................36
7
HOUSING ..........................................................................................................................38 ..........................................................................................................................38 7.1 Mounting ............................................................................................................38 7.2 Unit Dimensions ......................................................................................................39 ......................................................................................................39 Epec Oy reserves all rights for improvements without prior notice notice
Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
Postiosoite/Postal address PL/P.O.Box 194 FIN-60120 Seinäjoki, Finland
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2023 CONTROL MODULE
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ADDITIONAL DOCUMENTS ............................................................................ ............................................................................................40 ................40
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1
GENERAL 1. 1.1 1
Purpose of This Document
This technical document is meant to be used in system development. This document contains necessary data concerning the module in question, which system designer needs in system development work. Copying of this document without permission is prohibited. All trademarks mentione d in this document are owned by their manufacturers.
1. 1.2 2
About Manufactur Manufactur er
Epec Oy helps its customers to manufacture efficient, safe and environmental friendly mobile working machines and special vehicles which help their customer s to maximise their productivity. Epec is a solution provider specialized in embedded control systems, vehicle computers and information logistics systems for mobile machines. We believe that we know control systems for challenging conditions and we are able to offer a total solution from control units to project services and designing.
1.3
Epec CAN Module Family
Epec CAN Module Family is designed to operate in extreme environments, where vibration, wide temperature changes and moisture are normal conditions. The requirements for the system’s reliability and safety have been the key words in module family development. A small and protective module casing keeps inside high performance microcontroller with lots of control capabilities.
1.4
Basic skil ls required
The user of this document must have professional skills on machine controlling, CAN communication, PLCopen programming according to IEC61131-1 and should have skills to use CoDeSys 2.1/2.3 programming environment. Please refer CoDeSys 2.1/2.3 manual for further information on programming environment and required require d installations. Please refer CAN and CANopen documentation from CAN in Automation (CiA) for further information on communication issues.
1.5
Safety gui delin es
The user of this documentation should follow genera l machine safety guidelines, directives and regulation appropriate to his/her country or market area. This product does not comply with SIL2 or SIL3 classifications and should not be used in such applications, e.g. lifting people, where SIL 2 or SIL3 are required by directives or other regulations.
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A separate safety analysis is always recommended 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 cont rolling purposes. The manufacturer does not assume any responsibility for this product being fit for any particular application, unless otherwise expressly stated in writing by the manufacturer. This product complies with those certifications and standards that are listed below. The manufacturer does not guarantee that this product complies any other certification, standard or test than listed below. This product is not field serviceable, so it should not be opened at any situation. An external fuse should be installed for the produ product ct or the system power supply. supply. The system should be designed and constructed according to the Epec general mounting and cabling instruction document. Epec Oy reserves a right to improve its products without a further notice.
1.6
Warranty
The manufacturer does not assume any responsibility for the products being fit for any particular purpose, unless otherwise expressly stated in writing by the manufacturer. The manufacturer gives the warranty of twelve (12) months to the products and thereto related firmware from commissioning or eighteen (18) months from the date of delivery of the products which ever occurs first The manufacturer is during the warranty period responsible for defects in the products and thereto related firmware resulting from faults in material, design or workmanship. The manufacturer’s only obligation under this warranty is to, at its sole discretion, either to replace the products and/or thereto related firmware or to repair the defective products. The manufacturer shall, at its sole option, repair the products at its manufactory in Seinäjoki, Finland. The warranty does not cover any costs related to removing or fastening of devices related to the products. Neither does the warranty cover the expenses of sending devices to or from the manufacturer for repairs. The warranty does not cover possible expenses relating to travelling, accommodation, accommod ation, 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 manufacturer without delay and no later than on the seventh (7th) day after the defect has been or should have been discovered by the buyer. The manufacturer strives to reply to the claim in writing within two (2) weeks from the receipt of the claim. The buyer shall attach to the claim a possible error report or equivalent explanation of the grounds for the claim. The manufacturer gives no other warranties whatsoever for the products than the warranty set out in this section and thus the warranty given in this section sets forth the warranty given by the manufacturer manufactur er in its entirety. Epec Oy reserves all rights for improvements without prior notice notice Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
Postiosoite/Postal address PL/P.O.Box 194 FIN-60120 Seinäjoki, Finland
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1. 1.7 7
Limit ed 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. 1.8 8
Environmental statement
environ onme ment ntal certified processes and materials rials to The manufacturer uses ISO14001 envir manu ma nufa fact ctur ure e pro produ duct cts. s. Th The e man manuf ufac actu ture rerr u und nde ertakes to ar arra rang nge e ffor or th the e rec recyc ycli ling ng and scrapping manufacturer by the buyer and/or the products that are of the products that are returned to the manufact received by the Manufacturer in connection with maintenance services performed as a re sult of that repairing of the products is deemed by the manufacturer to be inappropriate. The manufacturer will charge a scrapping fee fr om 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.
Epec Oy reserves all rights for improvements without prior notice notice Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
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Internet www.epec.fi
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Epec CAN Module Family 2023 CONTROL MODULE
2
I/O MODULE GENERAL DESCRIPTION I/O Module is part of the Epec CAN Module Family. I/O Module has large amount of digital and analog inputs and digital outputs . Digital outputs can be configured to be used as digital inputs and vice versa. Module is used in a CAN control module system as a multifunction controller with different kinds of sensors and actuators, such as proportional valves, servo motors, and electro-hydraulic components. This PLCopen programmable (with CoDeSys tool) module can also be used as an indepen dent controller because of digital and analog I/O capabilities. I/O Module has two CAN-buses. Features Ap plic pl ic ation ati on s • ISO High Speed CAN1 interf ace • Forest Machines • Road Maintenance • ISO High Speed CAN2 interface • Operating erating volta voltage ge 10 10 - 30 V VDC DC • Construction Machines • Recommended operating voltage 24 VDC • Crushing Stations • Overvoltage protection • Industrial Machines • Overheating protection • Agricultural Agricultural applications applications • Short-circuit protection for outputs • Automation applications • Gold plated, locked and sealed connectors: • Mining Machines 8-pin AMPSEAL for module connection 3 x 23-pin AMPSEAL for I/O • Small out outlin line ed dime imensi nsion ons: s: 1 147 47 x 113 x 46 • Weight 0,7 kg
Monitoring Functions Following issues can be monitored by the application • Supply voltage • Firmware/application Firmware/appl ication code corruption • Module temperature Software deadlock is monitored by the hardware watchdo g that reboots the module automatically after 300 ms software deadlock.
2. 2.1 1
Programming Environment
This product can beIfprogrammed with eitherisCoDeSys 2.12.1x, or CoDeSys 2.3 depending on the is module’s firmware. the firmware’s runtime older than the programming environment CoDeSys 2.1 and if the runtime is 2.3.x or newer the programming environment is CoDeSys 2.3. The runtime version can be checked from index with a CANopen tool, for example with CANmoon.
2.1.1
Codesys Codes ys 2.1
• Flash • 248 x 16-bit flash saved parameters (Runtime older than 2.15) • 756 x 16-bit flash saved parameters (Runtime 2.15 or newer) • CAN buses • Supported baud rates 20, 50, 100, 125, 250, 500 and 1000 kbit/s. • CAN1 • CANopen • CAN2
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• User programmable • J1939 • Pulse inputs • Maximum pulse input frequency 20 kHz. • Joint frequency for all pulse inputs. (e.g. four channel in use --> 5 kHz for each channel.) • Minimum PWM frequency • 40 Hz for 20 MHz module
• 80 Hz for 40 MHz module
2.1.2
Codesys 2.3
• Flash • 6200 bytes flash saved parameters. • 10 separately saved sets. • Max axiimu mum m co cod de size 254 kb kb.. • C AN-buses • User programmable CAN for all physical CAN-buses • Supp ppor orte ted d baud rate rates s 50 50,, 10 100, 0, 12 125, 5, 25 250, 0, 50 500 0 an and d 10 1000 00 kbit kbit//s. • Supported protocols • CANopen (for all physical buses) • J1939 (only for one bus in the same module) module) • ISOBUS (only for one bus in the same module) • Possible to add external c-programmed library • Minimum PWM frequency • 40 Hz for 20 MHz module • 80 Hz for 40 MHz module • Maximum pulse input frequency 40 kHz. Joint frequency for all pulse inputs. (e.g. four
channel in use --> 10 kHz for each channel). Is dependable for the other interrupt load in module (for example heavy CAN-traffic can reduce maximum frequency).
2.2
CANopen Indexes
CANopen communication features can be installed through software, for example NodeIDs and CAN rates. For more information refer to programming manuals.
Epec Oy reserves all rights for improvements without prior notice notice Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
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3
INPUT / OUTPUT SPECIFICA SPECIFIC ATIONS Control Module contains inputs and outputs or, in other words, I/O pins of different types. There are, for example, outputs which source current and outputs which sink current. Furthermore, there are I/O pins which can be use d as inputs or as outputs at the control of the application programmer.
3.1
Confi gur able I/Os I/Os
Max Am ou ount nt 16 16 16 12 60
DI
AI
PI
DO
Digital Input
An alog alo g Input
Pulse Input
Digital Output
x x x x 60
x
PWM Pulse Width Modulation Output
x
16
16
x x 28
x 16
The usage of each I/O pin is determined by the application.
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3.2
Digi tal Input / An al o g In p u t
3.2.1 Pi n s X3.3, X3.5, X3.7 an d X3.10 Pins X3.3, X3.5, X3.7 and X3.10 are analog inputs. All inputs can be configured either as a current input or as a voltage input. and X3.7 and Some of the inputs are grouped: X3.3 is defined as group one, X3.5 is group two an s group th three. Al All gr groups can be configured either as a current input or as a voltage X3.10 iis input. For example, if group three is configured as a current input, then both pins X3.7 and be used used as a current current iinpu nput. X3.10 can only be Pins of this kind are used to measure analog signals. They can be used as high impedance voltage inputs for signals from 0 to 5 volts or low impedance current inputs for signals from 0 to 22,7 m mA A. Pi Pins of this kind can be us used as e e..g. jjo oystick co connection wh when 41 41 k +2 +2,5 V (v (voltage input) is selected. Inputs are divided into groups by the input impedance configuration. The input impedance of each group is controlled by a bit in an Input Impedance Configuration Register (IICR). This register is invisible to programmer but it can be written by HW_SET_AI_TYPE HW_SET_AI_TYPE function function call.
When an input like this is configured as a low impedance current input, it can’t withstand the normal maximum input voltage rating. The maximum rating is lowered in this case to 15 volts.
In PLCopen programming environment, there is a word variable in IW IW area area associated with each pin from where the software can read the actual signal magnitude at the pin. In carefully selected applications these pins can also be used as digital inputs. Generally, it is not recommended. In high impedance voltage input configuration they have low threshold voltage which is quite sensitive to interference signals. In low impedance current input configuration they are subject to damage if they are connected to for example 24 volt system voltage. There are bits in IX IX area area associated with these inputs to support the DI functionality. Input Impedance Confi guratio n Register (II (IICR) CR) Bit IICR.0 IICR.1 IICR.2
Input Group X3.3 X3.5 X3: 7, 10
Sample rate for analog input pin X3.10 is max 10 ms. For pins X3.3, 5, 7 sample rates are max 20 ms due to multiplexing.
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Epec CAN Module Family 2023 CONTROL MODULE
Electrical Ele ctrical Cha Characteristics racteristics Symbol VI II
Parameter Parameter Input Voltage Input Current
VIH
Inp Input ut High High Vol Voltag tage e
IL V IIH IIL
Input Input Low High Voltage Current Input Low Current
RI
Input Resistance
TIRE πI
Total Input Referred Error Time Constant of Input Low Pass Filter
Condit ions Analog measuring range Analog measuring range (Note 1) (Note 2)
Min 0,0 0,0 2,0 2,0
Max Max 5,0 22,7 30 15
Units V mA V V
(Note 2) (Note 2) Referred to 2.5 V (Note 1) (Note 2)
-0,5 9,0 -2,3 40 215
1,0 27 4,5 42 225 0,25 1,1
V mA mA kΩ Ω V mA
3,1
4,7
ms
(Note 2) (Note 1)
Co n n ec t i o n Pr i n c i p l e; Hi g h Im p ed an c e Vo l t ag e In p u t +12V
Module "0"
Connection Conne ction Principle; Low Impe Impedance dance Curre Current nt Input +12V
Module "1"
Note 1: Input 1: Input Configured for Voltage Measurement (220 Ω Input Resistor Disconnected) Disconnected) Note 2: Input 2: Input Configured for Current Measurement (220 Ω Input Resistor Connected)
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3.2.2 Pin X3.18 Pin X3.18 is analog input. Pin of this kind is used to measure analog signals. Pin can be used as high impedance voltage input for signals from 0 to 5 volts. In PLCopen programming environment, there is a word variable in IW IW area area associated with each pin from where the software can read the actual signal magnitude at the pin. In carefully selected applications this pin can also be used as digital input. Generally, it is not recommended. In high impedance voltage, this input has low threshold voltage which is quite sensitive to interference signals. There is a bit in IX IX area area associated with this input to support the DI functionality. Electrical Characteristic Characteristic s Sy m b o l VI VIH VIL RI TIRE πI
Par am am et et er er Input Voltage Input High Voltage Input Low Voltage Input Resistance Total Input Referred Error Time Constant of Input Low Pass Filter
Co n nd d iitt iio on ns s Analog measuring range
Mi n 0,0 2,0 -0.5 81
Max 5,0 30 1,0 83 ± 0,12
Un i t s V V V kΩ V
3,1
4,7
ms
Connection Conne ction Principle +12V
Module
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3.2.3 Pin X3.20 Pin X3.20 is analog input. Pin of this kind is used to measure analog signals. Pin can be used as high impedance voltage input for signals from 0 to 46 volts. In PLCopen programming environment, there is a word variable in IW IW area area associated with each pin from where the software can read the actual signal magnitude at the pin. In carefully selected applications this pin can also be used as digital input. Generally, it is not recommended. In high impedance voltage, this input has low threshold volt age which is quite sensitive to interference signals. There is a bit in IX area associated with this input to support the DI functionality. Electrical Characteristic Characteristic s Symbol VI VIH VIL RI TIRE πI
Parameter Input Voltage Input High Voltage Input Low Voltage Input Resistance Total Input Referred Error Time Constant of Input Low Pass Filter
Conditions Analog meas measuring range
Min 0,0 19,0 -0,5 91
Max Max 46 46 9,0 93 ± 0,21
Units V V V kΩ V
0,38
0,56
ms
Co n n ec t i o n Pr i n c i p l e +12V
Module
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3.2.4 Pin X3.22 Pin X3.22 is analog input. Pin of this kind is used to measure analog signals. This is intended for use with resistive temperature sensors or other sensors like those. There is an internal 2,2 kΩ resistor connected to +5 V in the module. It provides appropriate measuring current for the external sensor. Any resistive sensor with reasonable resistance range can be used. The pin can be used as 2,2 kΩ impedance (to +5 V) voltage input for signals f rom 0 to 5 volts. In PLCopen programming environment, there is a word variable in IW IW area area associated with each pin from where the software can read the actual signal magnitude at the pin. IX area area associated with this input to This pin can also be used a s digital input. There is a bit in IX support the DI functionality. El ec t r i c al Ch ar ac t er i s t i c s Sy m b o l VI RO VIH VIL RI TIRE πI
Par am et er Input Voltage Sensor Output Resistanc Resistance e Input High Voltage Input Low Voltage Input Resistance Total Input Referred Error Time Constant of Input Low Pass Filter
Co n d i t i o n s Analog measuring range Analog measuring range 1 V…4 V (Note 1) Referred to 5 V
Mi n Max 0,0 5,0 0,55 … 8,8
Un Un i t s V kΩ
2,0 -0,5 2,17
20 1,0 2,23 ± 0,12
V V kΩ V
82
115
μs
Connection Conne ction Princi ple ple +5V
Module
Note 1: 1: Exceeding the max value might cause damage to input.
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3.2.5 Pin s X1.1, X1.1, X1.2, X1.3 and X1.4 Pins X1.1, X1.2, X1.3 and X1.4 are analog inputs. Pins of this kind are used to measure analog signals. They can be used as medium impedance voltage inputs for signals from 0 to 5 volts. IW area area associated with each In PLCopen programming environment, there is a word variable in IW pin from where the software can read the actual signal magnitude at the pin. In carefully selected applications these pins can also be used as digital inputs. There are bits in IX IX area area associated with these inputs to support the DI functionality. Electrical Ele ctrical Cha Characteristics racteristics Symbol VI VIH VIL RI TIRE πI
Parameter Parameter Input Voltage Input High Voltage Input Low Voltage Input Input Resis Resistanc tance e Total Input Referred Error Time Constant of Input Low Pass Filter
Condit ions Analog measuring range
Min 0,0 2,0 -0,5 9,9
Max Max 5,0 30 1,0 10,1 ± 0,12
Units V V V kΩ V
0,42
0,53
ms
Co n n ec t i o n Pr i n c i p l e +12V
Module
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3.2.6 Pin s X3.12, X3.13 and X3.14 X3.14 Pins X3.12, X3.13 and X3.14 are analog inputs. Pins of this kind are used to measure analog signals. They can be used as low impedance current inputs for signals from 0 to 22,7 mill amperes. Input like this can’t withstand the normal maximum input voltage rating. The maximum rating is lowered in this case to 15 volts. In PLCopen programming environment, there is a word variable in IW IW area area associated with each pin from where the software can read the actual signal magnitude at the pin. In carefully selected applications these pins can also be used as digital inputs. The low current inputs are subject to damage if they are connected to for example 24 volt impedance cu system voltage. There are bits in IX IX a arrea associated with these inputs to support the DI functionality. El ec t r i c al Ch ar ac t er i s t i c s Sy m b o l I V II VIH VIL IIH IIL RI
TIRE πI
Par am et er
Co n d i t i o n s
Mi n
Max
Un i t s
IInput nput V oltaget Curren Input High Voltage Input Low Voltage Input High Current Input Low Current Input Resistance Total Input Referred Error Time Constant of Input Low Pass Filter
A nalog m easuring rrange ange Analog measuring
0 ,0 0,0 2,0 -0,5 9,0 -2,3 220
5,0 22,7 15 1,0 27 4,5 228
V mA V V mA mA Ω V
± 0,16
9,0
11,0
μs
Connection Conne ction Principle +12V
Module
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3.2.7 Pins X3.1 and X3.11 X3.11 Pins X3.1 and X3.11 are analog inputs. Pins of this kind kind are used used to meas measure ure analog analog si signa gnals. ls. They They can be used used as high imped impedance ance voltage inputs for signals from 0 to 5 volts. Pins of this kind can be used as e.g. joystick connection. In PLCopen programming environment, there is a word variable in IW IW area area associated with each pin from where the software can read the actual signal magnitude at the pin. In carefully selected applications these pins can also be used as digital inputs. Generally, it is not recommended. In high impedance voltage input configuration they have low threshold voltage which is quite sensitive to interference signals. There are bits in IX area IX area associated with these inputs to support the DI functionality. Electrical Ele ctrical Cha Characteristics racteristics Symbol VI VIH VIL RI TIRE πI
Parameter Parameter Input Voltage Input High Voltage Input Low Voltage Input Resistance Total Input Referred Error Time Constant of Input Low Pass Filter
Condit ions Analog measuring range
Referred to 2.5 V
Min 0,0 2,0 -0,5 40,5
Max Max 5,0 30 1,0 41,5 ± 0,12
Units V V V kΩ V
1,7
4,7
ms
Connection Conne ction Principle +12V
Module
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3.3
Di g i t al In p u t / Pu l s e In p u t
Pins X1.9…X1.14, X2.5…X2.8 and X2.10…X2.15 are ground referenced inputs (DI) including pulse counting (PI (PI)) fea feature ture.. These pins ins have 10k 10kΩ resistor connected to GND. The a ap pplication program is provided with the number of the pulses seen in the input in addition inpu ut s sta tate te.. to the normal inp There are three variables associated with each pin of this type in PLCopen programming environment. The first is a bit variable in the IX IX area just in the same way as with the pins without the PI IW m me emory area which hold the PI features. features. The other two are word variables in th e IW frequency value and the the number of pul pulse ses. s. After starting up the module measures only th t he pulse frequency. Pulse counting, if needed, must be enabled led e exp xpli lici citl tly y by the applica licati tion on pr pro ogr gram am.. The pulse counting competes with the application program and other processes for the CPU time. This makes it rather hard to estimate the actual maximum frequency of the pulses that the module is able to count reliably. The maximum frequencies given in the table below are such frequencies which make the module to freeze in practice if all inputs are connected to their maximum frequencies. It means that to be able to reach the maximum frequencies, there is no room for application program or any other processes like CAN traffic. So, the practical limits are lower but the maximum values of the table still give the basis for the estimation. Inputs of this type are also suitable for quadrature sensor position counting. counting. Any of these inputs can be logically paired with another similar input. The result is a two channel pulse counter which is capable of detecting the direction of the movement of the sensor. The pairing is done in application program. The pulse count and pulse frequency can be read from the pulse input channels. The following table shows the IW-addresses where to read the wanted data (when using CoDeSys 2. 1). Pulse Input ch annels annels Chan nel
Pin
Pulse Frequency
Pulse Count
8 9 10
X2.13 X2.12 X2.11
%IW130 %IW131 %IW132
%IW120 %IW121 %IW122
11 12 13 14 15 0 1 2 3 4 5 6 7
X2.10 X2.8 X2.7 X2.6 X2.5 X1.14 X1.13 X1.12 X1.11 X1.10 X1.9 X2.15 X2.14
%IW133 %IW134 %IW135 %IW136 %IW137 %IW150 %IW151 %IW152 %IW153 %IW154 %IW155 %IW156 %IW157
%IW123 %IW124 %IW125 %IW126 %IW127 %IW160 %IW161 %IW162 %IW163 %IW164 %IW165 %IW166 %IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib). Epec Oy reserves all rights for improvements without prior notice notice Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
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Epec CAN Module Family 2023 CONTROL MODULE
Electrical Ele ctrical Cha Characteristics racteristics Symbol
Parameter Parameter
RI
Input Resistance
VIH VIL
Input High Voltage Input Low Voltage Input Frequency (frequency measurement and pulse counting) Input Frequency (normal inputs)
f I
tI
Input Pulse Width
CI
Input Capacitance
Condit ions VI greater than 4,3 V (Note 1) Referenced to 1,3 V;
Min 9,0
Max Max 11
Units kΩ
6,2
7,6
kΩ
VI less than 4,3 V (Note 1)
4,8 -0,5
30 4,2 5
V V kHz
40
kHz
12 1/8tC
Hz
(Note 2, 3, 6) Sum of the frequencies of all the above pins (Note 2, 3, 6) tC=10 ms (Note 3, 4, 5, 7) Variable tC (Note 3, 5, 7) (Note 3, 6) tC=10 ms (Note 3, 4, 5, 7) Va Vari riab able le tC (N (Not ote e 3, 5, 7)
0,2 40 4tC 42
ms ms 52
nF
Connection Conne ction Principle +24V/+12V Module
Note 1: 1: With input voltages below 4,3 V it seems like the internal input resistance was connected to a 1,3 V voltage sou rce Note 2: 2: All All conditions must be respected. Even if some of the inputs were not used for frequency measurement or pulse counting, these conditions must nevertheless be respected regarding ing th those ose inp inputs uts too too.. Other Otherwis wise e ope opera ratio tion n of other other inputs inputs may may be interfered Note 3: Viola 3: Violating this rating may lead to system not recognizing all input state transitions Note 4: T ese e pa para rameters depe depen nd on soft softwa ware re cy cycl cle e ti time me 4: Th hes ot e 5: t Note 5: tC denotes software cycle time 6: Applies Applies to inputs used for frequency measurement and pulse counting. Violating this Note 6: rating may lead to incorrect measurement or counting Note 7: Applies 7: Applies to inputs inputs used as n normal ormal dig digital ital inputs. Viola Violating ting this rating may lead to application program program not noticing all input state transitions
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3.4
Digit al Input / PWM PWM Ou t p u t / Di g i t al Ou t p u t
3.4.1 Pi n s X1.5…X1.8 an d X2.1…X2.4 Pins X1.5…X1.8 and X2.1…X2.4 are current sourcing outputs. In other words, pin connects the load to positive supply voltage. The application program can also simultaneously monitor the actual state of the pin. This fea ture m ma akes it possible to detect short circuits to the ground. Open loads can not be detected because the inter nal load resistor is connected to the ground. This kind of outputs are also capable to generate pulse width modulated (PWM) output signals. This feature is useful when driving proportionally controlled loads, e.g. proportional hydraulic valves. Monitoring the state of the pin is generally not possible when the pin is used as a PWM signal output. PWM frequencies can be configured under software control in groups of outputs. The frequency is set by HW_SET_PWM_FREQ function call. The setting is done by a PWM channel but setting the fr freq eque uenc ncy y of one one channe nell sets sets also also th the e fr freq equ uencies of all the other channels in the same groups. In very carefully selected applications a pin of this type can also be used as an input by using the output state monitoring feature. In those cases the output functionality of the pin must of course be kept in off state. It must be taken care in system design that the output unintentionally switching to on state causes no harm to the system. PWM Frequency Frequency Contro l Grou ps (PF (PFCG CG)) Group A
B C D E
Channel Channel 0 1 2 3 4 5 6 7 8 9 10
Output pin X1.7 X1.8 X1.6 X1.5 X2.1 X2.2 X2.4 X2.3 X1.19 X1.18 X2.21
11 12 13 14 15
X2.20 X1.23 X1.22 X1.21 X1.20
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Electrical Ele ctrical Cha Characteristics racteristics Symbol RO IO f PWM PWM
Parameter Parameter Output Resistanc Resistance e Output Current PWM Frequency
PWM Resolution
RI VIH VIL
Input Resistance Inpu Inputt High High Voltage Input Low Voltage
f I
Input frequency
tI
Input Pulse Width
Condit ions Output On Output On (Note 1) Group A
Min
Group B, C, D and E (Note 1) Group A; f PWM PWM=100 Hz (Note 1) Group B, C, D, and E; f PWM PWM=100 Hz (Note 1) Output Off
625 kHz/ f PWM 50000
Output Off tC=10 ms (Note 2, 3, 4) Va Vari riab able le tC (N (Not ote e 2, 4) tC=10 ms (Note 2, 3, 4) Variable tC (Note 2, 4)
Max Max 0,2 3 80 2550 5 MHz/ f PWM PWM
Units Ω A Hz
6250 2,8 3 -0,5
7,5 VIN 1 12 1/ 1/8t 8tC
KΩ V V Hz
40 4tC
ms
Co n n ec t i o n Pr i n c i p l e +24V
Load Module
Conn onn ec tio tion nP Prin rincip ciple le (whe when n used used a as s i nput) +24V/+12V +24V
Module
Note 1: 1: PWM capable outputs are divided into five groups. All outputs in same group share the same PWM frequency (default value 140 Hz) Note 2: 2: Violating this rating may lead to system not recognizing recognizing all input state transitions transitions Note 3: 3: These parameters depend on software cycle time Note 4: 4: tC denotes software cycle time
Epec Oy reserves all rights for improvements without prior notice notice Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
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3.4.2 Pi n s X1.18…X1.23 an d X2.20…X2.21 Pins X1.18…X1.23 and X2.20…X2.21 are current sinking outputs. In other words, pins can handle +4…+15 voltages with constant current. The application program can also simultaneously monitor the actual state of the pin. This feature makes it possible to detect open connections. This kind of outputs are also capable to generate pulse width modulated (PWM) output signals. Monitoring the state of the pin is generally not possible when the pin is used as a PWM s ignal output. PWM frequenci encies es can can be be conf configure ured d un under der softwa software re control in groups of outputs. The frequency is set by HW_SET_PWM_FRE Q function c ca all. The setting is done by a PWM channel but setting the frequency of one channel sets also the frequencies of all the other channels in the same groups. In very carefully selected applications a pin of this type can also be used as an input by using the output state monitoring feature. In those cases the output functionality of the pin must be kept in ON state. PWM Fr eq u en c y Co n t r o l Gr o u p s (PFCG) Group A
Channel 0
Output pin X1.7
B C D E
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
X1.8 X1.6 X1.5 X2.1 X2.2 X2.4 X2.3 X1.19 X1.18 X2.21 X2.20 X1.23 X1.22 X1.21 X1.20
Epec Oy reserves all rights for improvements without prior notice notice Epec Oy Oy Tiedekatu 6 FIN-60320 Seinäjoki
Postiosoite/Postal address PL/P.O.Box 194 FIN-60120 Seinäjoki, Finland
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Epec CAN Module Family 2023 CONTROL MODULE
Electrical Ele ctrical Cha Characteristics racteristics Symbol
Parameter
VI
Input Voltage
II VIH
Input Current Input High Voltage
VIL RI
Input Low Voltage Input Resistance
CI f PWM PWM
Input Capacitance PWM Frequency
PWM Resolution
fI
Input frequen frequency cy
tI
Input Pulse Width
Conditions Output On, (Note 1) Output Off Output On, 4V< VIN
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