Technical Manual 5050 MAN0005391

Epec 5050 Control Unit
Technical Document
Document version history
Date Notes
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
Technical Manual 5050 / MAN000539
Table of Contents
1 PREFACE ............................................................................................................................. 5
1.1 Use of Symbols ......................................................................................................... 5
1.2 Basic Skills Required ................................................................................................ 5
1.3 Safety Guidelines ...................................................................................................... 6
1.4 Warranty .................................................................................................................... 6
1.5 Limited Liability .......................................................................................................... 7
1.6 Environmental Statement .......................................................................................... 7
1.6.1 WEEE.............................................................................................................. 7
1.6.2 RoHS............................................................................................................... 7
2 PRODUCT OVERVIEW ........................................................................................................ 8
3 TECHNICAL DATA ............................................................................................................ 10
4 INPUT / OUTPUT SPECIFICATIONS ................................................................................ 12
4.1 I/O List ..................................................................................................................... 12
4.2 Configurable I/Os .................................................................................................... 15
4.3 PWM Output / Digital Output / Digital Input ............................................................. 16
4.3.1 PWM/DO/DI_Type005 .................................................................................. 16
4.3.2 PWM/DO/DI_Type006 .................................................................................. 18
4.3.3 PWM/DO/DI/CM_Type007 ........................................................................... 21
4.3.4 PWM/DO/DI/CM_Type008 ........................................................................... 24
4.4 Digital Input / Pulse Input ........................................................................................ 27
4.4.1 DI/PI_Type001 .............................................................................................. 27
4.4.2 DI/PI_Type002 .............................................................................................. 29
4.4.3 DI/PI_Type003 .............................................................................................. 30
4.4.4 Software Channels for Pulse Inputs ............................................................. 32
4.5 Analog Input / Digital Input ...................................................................................... 33
4.5.1 AI/DI_Type011 .............................................................................................. 33
4.6 Digital Output / GND ............................................................................................... 35
4.6.1 DO_GND/DI_Type010 .................................................................................. 35
4.7 Reference voltage supply pins ................................................................................ 37
4.7.1 +5V REF_Type015 ....................................................................................... 37
4.7.2 +10 V REF_Type004 .................................................................................... 38
4.8 Power supply pins and limitations ........................................................................... 39
4.9 Connection Examples ............................................................................................. 42
4.9.1 Connection Examples for DI/PI_Type001..................................................... 43
4.9.4 Connection Examples for PWM/DO/DI_Type005 ......................................... 48
4.9.5 Connection Examples for PWM/DO/DI_Type006 ......................................... 50
4.9.6 Connection Examples for PWM/DO/DI/CM_Type007 .................................. 52
4.9.7 Connection Examples for PWM/DO/DI/CM/Type008 ................................... 54
4.9.8 Connection Examples for AI/DI_Type011..................................................... 56
5 BUS CONNECTIONS ......................................................................................................... 58
5.1 CAN bus .................................................................................................................. 58
5.2 Ethernet interface .................................................................................................... 59
6 INTERNAL DIAGNOSTICS ................................................................................................ 60
6.1 LED Indicator........................................................................................................... 60
6.2 Temperature ............................................................................................................ 61
6.3 Error Log ................................................................................................................. 61
7 APPROVALS AND SAFETY.............................................................................................. 62
7.1 EMC Tests............................................................................................................... 62
Epec Oy reserves all rights for improvements without prior notice
Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Tiedekatu 6 PL/P.O.Box 194 +358-(0)20-7608 111 +358-(0)20-7608 110 www.epec.fi
FIN-60320 Seinäjoki FIN-60101 Seinäjoki, Finland
7.2 Environmental Tests ............................................................................................... 68

8 MECHANICS AND CABLING ............................................................................................ 70
8.1 Unit Dimensions ...................................................................................................... 70
8.2 Mounting and Cleaning ........................................................................................... 71
8.3 Plugging and unplugging the cables/connectors .................................................... 73
8.4 Cabling .................................................................................................................... 75
8.4.1 System Topologies ....................................................................................... 75
8.4.2 CAN Bus ....................................................................................................... 77
8.4.3 Ethernet ........................................................................................................ 79
8.4.4 I/O Cabling .................................................................................................... 80
8.4.5 Power supply ................................................................................................ 85
8.5 Welding ................................................................................................................... 88
8.6 System Examples ................................................................................................... 89
8.7 Accessories and Ordering Codes ........................................................................... 91

1 PREFACE
1.1 Use of Symbols
This manual uses the following symbols to point out important information or safety instructions:
The information icon indicates important information and issues to be noted for the
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.
The (electrical) warning icon indicates a hazard which could cause an electrical
danger and/or a personal injury.
CE compatibility
This symbol indicates that the product described in this manual complies with the
requirements set in the CE Standard.
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.
E17 Approval
This product is certified with normal automotive (E17) EMC (electromagnetic
compatibility) standards.
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.

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 document.
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 stated in writing by the manufacturer.
The manufacturer gives the warranty of twelve (12) months to the products and thereto related
firmware from commissioning or eighteen (18) months from the date of delivery of the products
which ever occurs first.
The manufacturer is during the warranty period responsible for defects in the products and
thereto related firmware resulting from faults in material, design or workmanship. The
manufacturer’s only obligation under this warranty is to, at its sole discretion, either to replace
the products and/or thereto related firmware or to repair the defective products. The
manufacturer shall, at its sole option, repair the products at its manufactory in Seinäjoki,
Finland.
The warranty does not cover any costs related to removing or fastening of devices related to the
products. Neither does the warranty cover the expenses of sending devices to or from the
manufacturer for repairs. The warranty does not cover possible expenses relating to travelling,
accommodation, daily benefits, etc. of installers.
The warranty becomes null and void if the buyer and/or a third party alters the products or the
firmware in any way or if they are not used in accordance with the Manufacturer’s operating
instructions.
All claims with respect to defects in the products shall be made to the manufacturer without
delay and no later than on the seventh (7th) day after the defect has been or should have been
discovered by the buyer. The manufacturer strives to reply to the claim in writing within two (2)
weeks from the receipt of the claim. The buyer shall attach to the claim a possible error report or
equivalent explanation of the grounds for the claim.

The manufacturer gives no other warranties whatsoever for the products than the warranty set
out in this section and thus the warranty given in this section sets forth the warranty given by the
manufacturer in its entirety.
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 Community Directive 2002/96/EC on waste electrical
and electronic equipment (WEEE) encouraging and setting specific criteria for the collection,
handling and recycling of electric and electronic waste.
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.

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, heavy duty AMPSEAL connectors
• 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

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

3 TECHNICAL DATA
Processor 32-bit CPU, 128 MHz
Memory 4 MByte hardware version:

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 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
REF voltage outputs +5 V, +10 V
Diagnostics Signal LED (green/red)

Temperature monitoring
Error logging
Programming CODESYS 2.3, Application size 1 MByte (in 4MByte hardware version)
CODESYS 2.3, Application size 3 MByte (in 8MByte hardware version)
Software installation Download to flash memory via CAN1 or Ethernet
Protection class IP67
Size / Outer dimensions 224,8 x 148,5 x 50 mm

8.819 x 5.827 x 1.969 in
Weight 0,95 kg
2.09 lbs
Case material Aluminum / plastic
Operating temperature -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)

Communications/ Interfaces 4 x CAN 2.0 B,

1 x Ethernet
I/O pins total 65
Outputs 12 PWM/DO/DI with high side current measurement up to

2,5 A, PWM frequency adjustable by application
8 PWM/DO/DI with high side current measurement up to
2,5 A, voltage measurement, PWM frequency by application
4 PWM/DO/DI up to 2,5 A, PWM frequency by application,
pull-up / pull-down selection by application
4 PWM/DO/DI up to 4 A, PWM frequency by application,
pull-up / pull-down selection by application
4 DO/DI sinking up to 3 A
Inputs 11 DI/AI 0-10 V / 0-22 mA selection by application,
pull-up/ pull-down selection by application
12 bit AD converter
4 DI/PI 5/10 V, threshold selection by application,
pull-up/pull-down selection by application
14 DI/PI pull-up/pull-down selection by application
4 DI/PI pull-down to GND

4 INPUT / OUTPUT SPECIFICATIONS

4.1 I/O List
The three connectors are placed in the module according to the following figure:
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)
I/O table
Pin Current /
Pin type Details Group* Information
number Voltage
X1.1 LOGIC GND
X1.2 CAN4H
X1.3 CAN3H
X1.4 CAN2H
X1.5 CAN1H
X1.6 CAN1H
X1.7 CAN1H TERMINATOR
X1.8 REF +10V_Type004 +10 V 250 mA
2,2 kΩ +10 V / 220 Ω GND
X1.9 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
2,2 kΩ +10 V / 220 Ω GND
X1.10 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
X1.11 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND Min input freq.
a configurable
X1.12 PWM/DO/DI/CM_Type007 12,4 kΩ GND P1 / N Nominal current 2,5 A
X1.13 LOADER BSL For factory use only
X1.14 CAN4L
X1.15 CAN3L
X1.16 CAN2L

X1.17 CAN1L
X1.18 CAN1L
X1.19 CAN1L TERMINATOR
2,2 kΩ +10 V / 220 Ω GND
X1.20 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
2,2 kΩ +10 V / 220 Ω GND
X1.21 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
X1.22 PWM/DO/DI_Type005 2,2 kΩ +10 V / 12,4 kΩ GND P1 / B Nominal current 4 A
X1.23 PWM/DO/DI/CM_Type007 12,4 kΩ GND P1 / N Nominal current 2,5 A
X1.24 Logic Power Supply
X1.25 ETHERNET TD+
X1.26 ETHERNET TD-
X1.27 ETHERNET RD+
X1.28 ETHERNET RD-
X1.29 PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / C Nominal current 2,5 A
X1.30 PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / C Nominal current 2,5 A
X1.31 PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / D Nominal current 2,5 A
X1.32 PWM/DO/DI_Type006 2,2 kΩ +10 V / 12,4 kΩ GND P1 / D Nominal current 2,5 A
X1.33 PWM/DO/DI_Type005 2,2 kΩ +10 V / 12,4 kΩ GND P1 / E Nominal current 4 A
X1.34 PWM/DO/DI_Type005 2,2 kΩ +10 V / 12,4 kΩ GND P1 / E Nominal current 4 A
X1.35 PWM/DO/DI_Type005 2,2 kΩ +10 V / 12,4 kΩ GND P1 / B Nominal current 4 A
X2.1 Power1 GND

X2.2 Power1 GND
X2.3 GND
X2.4 REF +10V_Type004 +10 V 250 mA
X2.5 REF +5V_Type015 +5 V 350 mA
X2.6 DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND f Thresh. 5 /10 V
X2.7 DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND f Thresh. 5 /10 V
X2.8 DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND g Thresh. 5 /10 V
X2.9 DI/PI_Type001 2,2 kΩ +10 V / 12,4 kΩ GND g Thresh. 5 /10 V
X2.10 GND
X2.11 GND
X2.12 GND
X2.13 PWM/DO/DI/CM_Type007 12,4 kΩ GND P1 / Q Nominal current 2,5 A
X2.14 PWM/DO/DI/CM_Type007 12,4 kΩ GND P1 / Q Nominal current 2,5 A
X2.15 DI/PI_Type002 12,4 kΩ GND
X2.16 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND h
X2.17 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND h
X2.19 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND i
X2.20 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND i
X2.21 Reserved For factory use only 0/4..20 mA
X2.22 Reserved For factory use only 0/4..20 mA

2,2 kΩ +10 V / 220 Ω GND
X2.23 AI/DI_Type011 0/4..20 mA 0..10 V
/ 47,5 kΩ GND
X2.24 Power1 Supply
X2.25 Power1 Supply
X2.26 DO_GNDType010 12,4 kΩ GND P1 Nominal current 3 A
X2.28 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / O Nominal current 2,5 A
X2.29 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / O Nominal current 2,5 A
X2.30 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / R Nominal current 2,5 A
X2.31 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / R Nominal current 2,5 A
X2.32 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / T Nominal current 2,5 A
X2.33 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / T Nominal current 2,5 A
X3.1 Power2 GND

X3.2 Power2 GND
X3.3 GND
X3.4 GND
X3.5 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND j Min input freq.

configurable
X3.6 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND j Min input freq.
configurable
X3.8 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND k Min input freq.

configurable
X3.9 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND k Min input freq.
configurable
X3.11 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND l Min input freq.

configurable
X3.12 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND l Min input freq.
configurable
X3.13 REF +10V_Type004 +10 V 250 mA
2,2 kΩ +10 V / 220 Ω GND
X3.14 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
2,2 kΩ +10 V / 220 Ω GND
X3.15 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
2,2 kΩ +10 V / 220 Ω GND
X3.16 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
2,2 kΩ +10 V / 220 Ω GND
X3.17 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
2,2 kΩ +10 V / 220 Ω GND
X3.18 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
2,2 kΩ +10 V / 220 Ω GND
X3.19 AI/DI_Type011 0..22 mA 0..10 V
/ 47,5 kΩ GND
X3.20 REF +5V_Type015 +5 V 350 mA
X3.21 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND m Min input freq.

configurable
X3.22 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND m Min input freq.
configurable

X3.23 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND a Min input freq.

configurable
X3.24 Power2 Supply
X3.25 Power2 Supply
X3.26 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / S Nominal current 2,5 A
X3.27 PWM/DO/DI/CM_Type007 12,4 kΩ GND P2 / S Nominal current 2,5 A
X3.28 PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / U Nominal current 2,5 A
X3.29 PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / U Nominal current 2,5 A
X3.30 PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / X Nominal current 2,5 A
X3.31 PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / X Nominal current 2,5 A
X3.32 PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / V Nominal current 2,5 A
X3.33 PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / V Nominal current 2,5 A
X3.34 PWM/DO/DI/CM_Type008 12,4 kΩ GND P2 / Y Nominal current 2,5 A
X3.35 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:
Max Current Voltage DO

Pin Type Info DI AI PI PWM
Amount Measurement Measurement PNP NPN
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
11 AI/DI_Type011 0-10 V / x x
0-22 mA
4 DI/PI_Type001 5/10 V x x
pull-up/
pull-down
14 DI/PI_Type003 pull-up/ x x
pull-down
4 DI/PI_Type002 pull-down x x

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:
Pull-up 2,5 Current Voltage

Pin type 4A
selection A Measurement Measurement
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
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 positive 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 Pinout Map).
• 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
Before the supply voltage can be connected to an output pin, the related power
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,
VLevel Output voltage Unconnected pin typ. 8,3 V
Output On
(Note 7)
Io Nominal Output Current 0 4 A

Io-lim Internal current limitation Output On (Note 5, 9) typ. 8 A
fPWM PWM Frequency (Note 1) 10 3000 Hz
PWM
DutyPWM (Note 2, 10) 0 to 100 %
Duty cycle
ResPWM PWM Resolution (Note 3) 0,1 %
Digital status input

Output Off, Pull-up resistor
RI Input Resistance typ. 12 kΩ
not selected

VIH Output Off (Note6) 3,2 V
High Voltage level

VIL Input Low Voltage Output Off 1,9 V
Uin +
VI-range Input voltage range (Note 11) -0,5 V
0,2V
Digital Status Input
tI (Note 2, 4, 8) > tC ms
Pulse Width
CI Input pin capacitance typ. 1 nF
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

Functional block diagram
Refer to section Connection Examples to see examples of how to connect external

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 connects the load to a positive 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 Pinout Map).
• This pull-up feature is for open load detection when the pin is used as an output.

The FET outputs are grouped into pairs:
• 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 also with NPN-type sensors – sensors with open collector/open drain.
Output Off, Pull-up selected,
VLevel Output voltage typ. 8,3 V
Unconnected pin
Output On
Io Nominal Output Current 0 2,5 A
(Note 7)
Io-lim Internal current limitation Output On (Note 5, 9) typ. 8 A
fPWM PWM Frequency (Note 1) 10 3000 Hz
PWM
Duty cycle
Output Off, Pull-up resistor
RI Input Resistance typ. 13 kΩ
not selected
VIH Output Off (Note 6) 3,2 V
High Voltage level
VIL Output Off 1,9 V
Input Low Voltage
Uin +
0,2V
Digital Status Input (Note 2, 4, 8)
tI > tC ms
Pulse Width
Note 1: Frequency of a (PWM) Pulse Width Modulation is = 1 / Period

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 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 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.
has been set.


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).

Input (DI)
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)
RShunt Shunt resistance typ. 68 mΩ
Nominal Current Measuring
Io-range 0 3,5 A
Range
%
+/-0,9
Iacc-zero Offset error Calculated 'worst case' (FS)
+/-33,0 mA
%
Accuracy +/-3,2
Iacc-prop Calculated 'worst case' (FS)
Proportional factor
+/-117,0 mA
Output On
Io Nominal Output Current 0 2,5 A
(Note 6, 9)
Io-lim Internal current limitation Output On (Note 7) 0 2,5 A
In current measurement
fPWM PWM Frequency 50 200 Hz
mode

(Note 1)
In PWM mode
10 3000 Hz
(Note 1)
PWM
Duty cycle
RI Input Resistance Output Off typ. 13 kΩ
High Voltage level
Input Low Voltage
Uin +
0,2V
tI > tC ms
Pulse Width

into a PWM period.
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 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 – 2,5A =
1,5A.
has been set.

Other Information

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).

Input (DI/AI)
• These pins may also be used as analog inputs (AI)
• 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
• When the pin is used as an output, the application can control the voltage with
the voltage measurement feature
• When the pin is used as an input, the application can measure the input voltage
level
The measured voltage must not exceed the operating 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)

RShunt Shunt resistance typ. 68 mΩ
Nominal Current
Io-range 0 3,5 A
Measuring Range
Output current
fCut-Off Cut-off frequency typ. 50 Hz
measuring
+/-0,9 %
Iacc-zero Offset error Calculated 'worst case'
+/-33,0 mA
+/-3,2 %
Accuracy
Iacc-prop Calculated 'worst case' +/-
Proportional factor mA (FS)
117,7
Nominal Output Current Output On
Io (Note 6, 8) 0 2,5 A
Output On
Io-lim Internal current limitation 2,5 A
(Note 7)
In current measurement
mode 50 200 Hz
(Note 1)
fPWM PWM Frequency
In PWM mode
(Note 1) 10 3000 Hz
PWM (Note 2, 9)
DutyPWM Duty cycle 0 to 100 %
RI Input Resistance Output Off Typ. 12 kΩ

Digital status input Output Off (Note 5)
VIH High Voltage level 3,2 V
ks bl6
Input Low Voltage
VI-range Input voltage range (Note 12) -0,5 Uin + 0,2V V

tI > tC ms
Pulse Width

Output/input voltage monitoring
Nominal Output/input
V0-range Voltage measuring (Note 10) 0 55 V
range
Measuring accuracy
VI-prop Calculated +/-1 %
Proportional factor
+/-0,1 %
VI-zero Offset Error Calculated
+/-55 mV


into a PWM period.
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.
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)
Other Information

4.4 Digital Input / Pulse Input
This product has three different types of DI/PI pins. The following table shows their differences:
Input
Pull-up voltage
Pin type
selection range
selection
DI/PI_Type001 X X
DI/PI_Type002
DI/PI_Type003 X
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 SW channels for
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 Pinout
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.
RI Input Resistance Referenced to GND (Note 1) typ. 12,4 kΩ
Referenced to +10V kΩ
RPU Pull-up Resistance typ. 2,2
(Note 2)
Unconnected pin, +10V_PU
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
VI-max Max Input voltage (Note 6) -5 60 V
Input Frequency
tC = 4 ms (Note 4, 5, 8, 9) 250 Hz
(normal digital input)
fI
Input Frequency
(Note 7, 10) 5 20000 Hz
(pulse input mode)

Input Pulse Width

tI (Note 7) 0,025 250 ms
(pulse counting)
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.
Note10: Max value can be reached by 2-98% pulse ration.
Other Information

4.4.2 DI/PI_Type002
Pulse Inputs.
• This type of pin has no configurable features
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
Input Frequency
tC= 4ms (Note 2,3,4,7) 250 Hz
fI
Input Frequency
(Note 5,8) 5 20000 Hz
(pulse counting)
Input Pulse Width
tI (Note 5) 0,025 250 ms
(pulse counting)

Note 6: Overload conditions.
Note 8: Max value can be reached by 2-98% pulse ration.
Other Information

4.4.3 DI/PI_Type003
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 Pinout
Map.
RI Input Resistance Referenced to GND (Note 1) typ. 12,4 kΩ
Referenced to +10V (Note
RPU Pull-up Resistance typ. 2,2 kΩ
2)
Unconnected pin, +10_PU
enabled (Note 2)
VIH Input High Voltage level (Note 3) 6,2 50 V
VIL Input Low Voltage level 0,0 4,1 V
Input Frequency tC= 4ms (Note 4,5,9)
250 Hz
fI
Input Frequency
(Note 7,8,10) 5 20000 Hz
(pulse counting)
Input Pulse Width
tI (Note 7) 0,025 250 ms
(pulse counting)
Note 1: A pull-up resistor is not selected.

Note 2:When pull-up resistor is selected.
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.
Note10: Max value can be reached by 2-98% pulse ration.

Other Information

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.
If there is no need for the reset functionality, reserve the pins from the bottom end.
This way the pins with the reset possibility remain free for possible future use.
Possible SW Possible SW
Possible SW Channels
Channels when Channel pairs Possible SW Channels
when 2-channel pulse
Pin 1 channel is when 2 channels when 1 channel is
input is needed with a
needed with no is needed with no needed with a reset
reset
reset reset
X2.06 1 channel A channel A

pair 1 reset pin for the channel
X2.07 2 channel B
above
X2.08 reset pin for the channel
3 channel A
pair above
pair 2
4 channel A
above
X2.15 5 channel A channel B
pair 3 reset pin for the channel reset pin for the channel
X2.18 6
above pair above
X3.07 7 channel A channel A
pair 4 reset pin for the channel
X3.10 8 channel B
above
9 channel A
pair above
pair 5
10 channel A
above
X2.19 11 channel A channel B
pair 6 reset pin for the channel reset pin for the channel
X2.20 12
above pair above
X3.08 13 not supported not supported
pair 7
pair 8
pair 9
pair 10
pair 11

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.
When measuring current (mA), the sensor connected to 5050 unit’s AI/DI pin must
not be powered up before the 5050 control unit is operational. Otherwise the
sensor’s input signal is not received correctly.
Input Voltage measuring
VI Voltage mode 0,0 10,0 V
range
VPU Pull-up voltage (Note 1) typ. 10 V
Pull-up Voltage
VI-PU Voltage mode 0,0 10,0 V
measuring range
II Input Current measuring
Current mode 0,0 22,7 mA
range
Voltage mode (Note 2) typ. 47,5 kΩ
RI Input Resistance
Current mode (Note 2) typ. 220 Ω
RPU Pull-up Resistance typ. 2,21 kΩ
Time Constant of Input Voltage mode typ. 0,78 ms
tI
Low Pass Filter Current mode typ. 1,55 ms
Time Constant of Pull-up Pull-up voltage measuring
tI-pull-up typ. 0,78 ms
Low Pass Filter
Input Measuring
VI-prop accuracy Proportional Calculated +/-1 %
factor
Pull-up Voltage
VI-prop-PU Measuring accuracy Calculated +/-1 %
Proportional factor
Voltage mode +/- 0,1 %
Calculated +/-10 mV
VI-zero Offset Error
+/-
Current mode mA
0,022

Calculated
Max Input voltage Overload conditions (Note
VI-max -5 50 V
3)
Note 1: Temperature-dependent.
Note 2: Referenced to GND.
Other Information

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.
Before the supply voltage can be connected to the pin, the related power switch
must be switched on as well.
Input
• This type of pin can also be used as an input
RON On-resistance Output On 250 mΩ
Output On,
II Nominal Input Current VDCLOAD < max VI-range 0 3 A
(Note 1)
RI Input Resistance Output Off typ. 12,4 kΩ
High Voltage level
Low Voltage level
Uin +
0,2V
Time Constant of Status
tI-status Output Off typ. 1,55 ms
Low Pass Filter
CI Input Capacitance typ. 1 nF
Note 1: Parameter is defined by resistive load.


Other Information

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.
VoLevel Output voltage Output On, Unconnected pins typ. 5,0 V
Output On,
Io Nominal Output Current Uin = 8,3 - 36 V 0 350 mA
VoLevel ≥ 4,75
Co Output Capacitance On each pin typ. 47 nF
VI-max Max Input voltage Overload conditions (Note 1) -0,5 50 V
Voltage monitoring
Nominal Voltage
Vo-range 0 28,5 V
measuring range
Measuring accuracy
Vo-prop Calculated +/-1 %
Proportional factor
+/-0,1 %
Vo-zero Offset Error Calculated
+/-28,5 mV
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.

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.
VoLevel Output voltage Output On, Unconnected pins typ. 10,0 V
Output On,
Io Nominal Output Current Uin = 8,3 - 36 V 0 250 mA
VoLevel ≥ 9,75
Co Output Capacitance On each pin typ. 47 nF
VI-max Max Input voltage Overload conditions (Note 1) -0,5 50 V
Voltage monitoring
Nominal Voltage
Vo-range 0 28,5 V
measuring range
Measuring accuracy
Vo-prop Calculated +/-1 %
Proportional factor
+/-0,1 %
Vo-zero Offset Error Calculated
+/-28,5 mV
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.

4.8 Power supply pins and limitations

Power supply pins are located in the following pins:
Connector Current /
pin number Pin Name Pin Note
X1.1 LOGIC GND
X1.24 Power
Supply Logic
X2.1 Power1 GND 10 A The maximum sum of
GND pin currents
Power1 GND 10 A should not
X2.2 continuously exceed
20 A.
X2.24 Power
10 A The maximum sum of
Supply1
supply pin currents
X2.25 Power cannot exceed 14 A.
10 A
Supply1
X3.1 Power2 GND 10 A The maximum sum of
GND pin currents
Power2 GND 10 A should not
X3.2 continuously exceed
20 A.
X3.24 Power The maximum sum of
10 A
Supply2 supply pin currents
should not
X3.25 Power continuously exceed
10 A
Supply2 14 A.
X2.5 +5 V REF
X3.20 +5 V REF
X1.8 +10 V REF
X2.4 +10 V REF
X3.13 +10 V REF
The following table describes which power gives certain pins the currency needed:
Connector
pin Current/
number Pin Type Powered by voltage
X1.12 PWM/DO/DI/CM Power 1 2A
X1.22 PWM/DO/DI Power 1 4A

X2.26 DO_GND Power 1 3A

Connector pin Current / Pin Note

number
X2.3 10 A The maximum sum of GND pin currents cannot exceed
X2.10 10 A 28 A.
X2.11 10 A
X2.12 10 A
X3.3 10 A
X3.4 10 A

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
No external loads,
PLogic Logic Power Consumption typ. 2,2 W
Uin = 24V
ITOT-max Max Total Current output Power groups together 28 A
IPIN-max Max through current per pin Tamb ≤ 85°C typ. 12,5 A
Max Input transient Voltage
VI-Load-dump (Note 1) 97,5 V
level
Max Continuous Input Each power group
VI-max -58 60 V
Voltage level (Note 2)
Regulated Overvoltage
VOVP-Reg typ. 43 V
threshold level
Operational Overvoltage
VOVP-oper. (Note 3,4) 50 V
level
VUVP Undervoltage threshold level typ. 7,5 V
Reverse Voltage Protection No extra facilities needed
VRVP -58 V
level (Note 5)
Voltage monitoring
Nominal Input Voltage
VI-range 0 55 V
measuring range
Measuring accuracy
VI-prop Calculated +/-1 %
Proportional factor
+/-0,1 %
VI-zero Offset Error Calculated
+/-55 mV
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 level where reverse protection will be activated. Keep in mind the fuse
parameters, such as the reaction time.

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 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

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:



DI/PI_Type002 pin:

DI/PI_Type003 pin:


4.9.4 Connection Examples for PWM/DO/DI_Type005
PWM/DO/DI_Type005 pin:


4.9.5 Connection Examples for PWM/DO/DI_Type006
PWM/DO/DI_Type006 pin:


4.9.6 Connection Examples for PWM/DO/DI/CM_Type007
PWM/DO/DI/CM_Type007 pin:


4.9.7 Connection Examples for PWM/DO/DI/CM/Type008
PWM/DO/DI/CM_Type008 pin:


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:

Connection examples when using DI mode

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

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 pins

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

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 X1.5 (CAN1 H)
user programmable communication X1.6 (CAN1 H)
X1.7 (CAN1 H terminator)
X1.17 (CAN1 L)
X1.18 (CAN1 L)
X1.19 (CAN1 L terminator)
CAN2 interface, user programmable X1.4 (CAN2 H)
communication X1.16 (CAN2 L)

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+)
X1.28 (RD-)

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

Off - - No supply voltage
NoApplication Blinks 5 - Firmware is running, no PLCopen application
times/second
ApplicationOk Blinks 2 - Application is running and the system is OK
times/
second
Starting LED is - Starting / Initializing
constantly on LED is continiously on from power on until the
application is running and the I/O / CAN
initializations are done.
FatalError - LED is Control unit bootup failed or a critical firmware
constantly on error while running.
ApplicationError - Blinks 2 External PLCopen library controls, for example
times/ when output controlling is disabled, so called
second safe state.
IOError - Blinks 5 External PLCopen library controls, for example
times/second when system is OK but there is short circuit in
one of the outputs or other similar error is
active (depends of application)
Update Blinks Blinks During firmware (and application*) update, red
alternately alternately and green LEDs are flashed alternately.
with red LED with green
LED

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.

Nominal Core Temperature
CoreTemp -40 125 °C
measuring range
Temperature measuring
Tprop accuracy +/-1,0 %
Proportional factor
+/-0,1 %
Vzero Offset Error
+/-4,88 mV
PCB area temperature

This temperature sensor monitors the PCB area temperature.

Nominal PCB Temperature
PCBTemp -40 125 °C
measuring range
Temperature measuring
Tprop accuracy +/-2,2 %
Proportional factor
+/-0,1 %
Vzero Offset Error
+/-4,88 mV
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.

7 APPROVALS 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
Radiated disturbance CISPR 16-2-3
Conducted disturbance at mains ports CISPR 16-2-1
Immunity tests according to the test specification EN 61000-6-2

Immunity test Test method
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
Emission tests according to the E/ECE Regulation No. 10, Revision 3 (2008)
Emission test Test method Conclusion
1)
Measurement of radiated interference field E/ECE Reg. No. 10, Pass
strength Annexes 7 and 8
in the frequency range 30 – 1000 MHz
2)
Measurement of conducted disturbances E/ECE Reg. No. 10, Pass
Annex 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.
Immunity tests according to the E/ECE Regulation No. 10, Revision 3 (2008)
Immunity test Test method Conclusion
1)
Radiated radio-frequency electromagnetic field E/ECE Reg. No. 10, Pass
Annex 9
2)
Immunity to transient disturbances conducted E/ECE Reg. No. 10, Pass
along Annex 10
supply lines
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.
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)

Radiated disturbance emission test • Test method E/ECE Reg. No. 10, Annexes 7 and 8
Frequency
Limit value (dBmV/m)
(MHz)
62/52/63
30 – 1000
(Broadband QP)
52/42/53
30 – 1000
(Narrowband AVE)
Conducted disturbances emission test • Test method E/ECE Reg. No. 10, Annex 10, ISO 7637-2:
2004
Port Limit level (V)

+75
12V DC input
-100
+150
24V DC input
- 450

Immunity tests according to the E/ECE Regulation No. 10, Revision 3 (2008)
Immunity to transient disturbances • Test method E/ECE Reg. No. 10, Annex 10, ISO 7637-2:
conducted along supply lines test 2004
• Performance criterion:
Pulse Criterion
1 C
2a B
2b C
3a A
3b A
4 C
5 C
• 24 V input, Pulse:
Pulse Pulse parameters
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
4 100 ms -20.5 (8.0) V, 20 s -16.5
(12.0) V,
10 pulses
5 +70V 5 pulses
• 12 V input, Pulse:
Pulse Pulse parameters
1 1/2000 μs, -150 V, 5000 pulses
2a 1/50 μs, +112 V, 5000 pulses
2b 10V, 220 ms, 10 pulses
3a 5/100 ns, -212 V, 60 minutes
3b 5/100 ns, +150 V, 60 minutes
4 25 ms -6.0 (8.0) V, 5 s -2.5 (12.0) V,
10 pulses
5 +70V 5 pulses

Immunity of ESAs to electromagnetic • Test method E/ECE Reg. No. 10, Annex 9
radiation • Performance criterion: No degradation of ‘Immunity-related
functions'
• Sweep step: 1%, time/step: 3 s
Frequency
Specification Range Test level
(MHz)
30 V/m
Modulation
20-800 (constant
AM80% 1 kHz
peak)
PM 30 V/m
800-2000 (constant
577/4600ms peak)
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
part6-3: residential, commercial and light industry
Radiated disturbance emission test • Test method EN 55022, CISPR 16-2-3
Frequency Limit value

(MHz) (dBmV/m)
30 – 1000 40/47 (QP)

Conducted disturbance at main ports emission test • Test method EN 55022, CISPR 16-2-1
Frequency
Limit value (dBmV)
(MHz)
0,15 - 30 66/56/60 (QP)
0,15 – 30 56/46/50 (AVE)
EN 61000-6-2 (2005)
Electromagnetic compatibility-generic immunity standard
part6-2: industrial environment
Conducted radio-frequency common mode • Test method EN 61000-4-6
immunity test • Performance criterion A
Specification Port Test

level
Frequency DC
range 0,150-80 input 10 Vemf
MHz port
Modulation
AM80% 1 kHz
Signal
Sweep step 10 Vemf
ports
1%, time/step
3s
Radiated radio-frequency electromagnetic field • Test method EN 61000-4-3

immunity test • Performance criterion A
Range Test
Specification
(MHz) level
Frequency range 80-2500 10 V/m
80-2700 MHz
Modulation
2500-
AM 80% 1 kHz 3 V/m
2700
Sweep step 1%,
time/step 3 s
Electrical fast transient (EFT/B) immunity test • Test method EN 61000-4-4

• Performance criterion B
Test pulse Port Test level

5 (Tr) / 50 (Th) DC input
± 2,0 kVp
ns, repetition port
frequency 5 kHz,
duration 5 Signal
± 1,0 kVp
minute port

Electrostatic discharge (ESD) immunity test • Test method EN61000-4-2
• Performance criterion B
Discharge mode Test level (kVp)

Contact ± 2, ± 4, ± 6
Indirect contact ± 2, ± 4, ± 6
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.

7.2 Environmental Tests

The following environmental tests have been performed on Epec 5050 control units:
Temperature
Duration/
Test Temperature Remarks
Exposure time
Cold
IEC 60068-2-1 (2007-03), -45 °C 16 h • 1 °C/min
Test Ad
Dry heat
IEC 60068-2-2 (2007-07), 70 °C 16 h • 1 °C/min
Test Bb
Damp heat cycling • rel. humidity >90%
IEC 60068-2-30 (2005-08), +25 °C/+55 °C • cycle duration 24h
Test Db • six test cycles
• change time between
Change of temperature IEC extreme temperatures 1-
60068-2-14 (2009-01), -50 °C/+60 °C 3h 2 min
Test Na
• 5 test cycles
Change of temperature IEC • change of temperature
60068-2-14 (2009-01), -40 °C/+70 °C 3h 10 °C/min
Test Nb • 2 test cycles
Mechanical resistance
Test Duration and direction Remark
• pulse duration 6
ms • half sine pulse shape
Shock test IEC 60068-2-27
• 500 impulses in • peak acceleration 500 m/s2
(2008-02) Test Ea
every six
directions
• test duration 60 • ASD-level 5 m2/s3, 10 … 200 Hz
Vibration, random
min in every
IEC 60068-2-64 (2008-04), • ASD-level 1,0 m2/s3, 200 … 500 Hz
three test
Test Fh • total spectral acceleration 3,54 grms
direction
Free fall, • one fall / direction
IEC 60068-2-31 (2008-05), on each surface • fall height 100 cm
Test Ec and corner
Corrosion
Test Temperature Duration Concentration

Salt spray test
+35 °C 24 h 5 % NaCl
ISO 9227
Tightness tests for IP67
Test Duration and prosedure Remark
• exposed to the free • no deposit of dust noticed inside

Dust test for IP6X according to
IEC 60529
settling dust for 8 • complies with the requirements stated
hours for the protection class IP6X

• under pressure
during the test 2 kPa
• flow rate of the air 0,
1 l/min
• immersion duration
30 minutes • no ingress of water noticed inside
Water test for IPX7 according to • immersion depth • complies with the requirements stated
IEC 60529 1000 mm for the protection class IPX7
• water temperature
+22 °C

8 MECHANICS AND CABLING

8.1 Unit Dimensions
Unit dimensions from the top:
Unit dimensions from the rear side:

Unit dimensions from the side:
8.2 Mounting and Cleaning
Control unit mounting location should be planned so that the machine's

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.
When cleaning the control unit, do not use highly alkaline / acidic substances,
too hot water, or too heavy mechanical abrasion.
In moist conditions, the module must be mounted and oriented so that the
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.

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.

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).
When connecting, make sure that:

• 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
color (this helps to keep the control unit connectors dry and protected)
• all cables, connectors and tools are of correct type, and sufficiently high
quality, and suitable for this kind of use (protection for moisture,
mechanical stability, power durability, coupling resistance among other
things)
• there is a sufficient margin (slack) left in the cables to prevent the
torsion of the connectors
• wires are bound to the control unit cover base knob with cable ties
The following figure describes some general instructions about the connectors.

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.

8.4 Cabling
8.4.1 System Topologies
Generally, cabling should be properly designed and documented to help the initial
assembly and maintenance.
It is highly recommended to mark each cable on both ends to avoid confusion and
errors.
The cables must be run in a safe route along the machine frame.
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
The cable lengths presented here are approximates. Actual cable lengths also
depend on the cable quality, the cable type and also on the machine environment
(possible interference).

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.

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 DS-
102 standard.
CAN bus baud rates and bus lengths according to CiA DS-102 standard
Baudrate Bus length
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
8.4.2 CAN Bus
The CAN bus cable is the neural backbone of the whole system and should be designed and
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

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:

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.
The maximum length of a working connection is 100 meters.
• 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 Pair)
• (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)
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

8.4.4 I/O Cabling
Closed circuit loops are always recommended and mandatory when you are
using DO or PWM pin as an input.
Closed circuit loop means that the power supply for the sensor must return to
the same power group, see the figures below.
When measuring current (mA), the sensor connected to 5050 unit’s AI/DI pin
must not be powered up before the 5050 control unit is operational. Otherwise
the sensor’s input signal is not received correctly.
• 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 Accessories) for dimensions.
• 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.

The following figures describe the closed loop wiring:

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

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)

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 principle, 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.

8.4.5 Power supply
The maximum continuous current per pin is 10 A.
• 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:

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

Power 2:
Power supply's wiring when using one battery:

Power supply's wiring when using two batteries:
8.5 Welding
Welding causes some high current flows and voltage peaks in the machine. It
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.
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

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

8.6 System Examples
Loading machine
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
Dumper
Cabin control unit
• controls the driveshaft brake
• controls the steering and brakes
• controls the dump box
Display
• remote connection
• positioning
• gauge
• diagnostics

Landfill compactor
Cabin control unit
• reads the joysticks and
switches
• controls the transmission
• controls the steering
• controls the lights
Tamping sensors
• measures the degree of
concentration
Display
• remote connection
• positioning
• gauge
• diagnostics
Backhoe
Cabin control unit
• controls the excavator
• controls the roof lights
• booms' position calculation
Engine control unit

• controls the front loader
• reads the fluid pressures and
temperatures
Gearing control unit

• controls the suspension
Tilt sensors
• measures the frame position
• measures the excavator and front
loader positions
Display
• gauge
• diagnostics

8.7 Accessories and Ordering Codes
Related products
Product Epec ordering code Epec data sheet code
Measuring adapter E3003510 MAN000512
CAN adapter E3003509 MAN000513
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 Epec ordering code

ordering code
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
AMPSEAL cable dimensions

Size Insulation
Strip length ±0,4
mm² AWG diameter range
0,5 20 1,7
0,8 18 to
1,4 16 2,7
5,1
2,2
1,5 --- to
2,4
Typical hand crimping tool e.g.: AMP Procrimper 58529-1 (TE Connectivity), Epec ordering
code TT0018

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Epec 5050 Control Unit

08.02.2013 Added Section Configurable I/Os

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

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1.2 Basic Skills Required

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1.3 Safety Guidelines

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1.5 Limited Liability

1.6 Environmental Statement

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Mechanics & hardware

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Processor 32-bit CPU, 128 MHz

Memory 4 MByte hardware version:

8 MByte hardware version:

REF voltage outputs +5 V, +10 V

Diagnostics Signal LED (green/red)

Software installation Download to flash memory via CAN1 or Ethernet

Protection class IP67

Size / Outer dimensions 224,8 x 148,5 x 50 mm

Case material Aluminum / plastic

Operating temperature -40... +85°C

Storage temperature -40... +85°C

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

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Communications/ Interfaces 4 x CAN 2.0 B,

I/O pins total 65

Outputs 12 PWM/DO/DI with high side current measurement up to

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4 INPUT / OUTPUT SPECIFICATIONS

The group column:

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X2.1 Power1 GND

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X3.1 Power2 GND

X3.5 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND j Min input freq.

X3.8 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND k Min input freq.

X3.11 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND l Min input freq.

X3.21 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND m Min input freq.

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X3.23 DI/PI_Type003 2,2 kΩ +10 V / 12,4 kΩ GND a Min input freq.

4.2 Configurable I/Os

Max Current Voltage DO

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4.3 PWM Output / Digital Output / Digital Input