PLUS+1 SC Controller Family Technical Information
Contents
1. Specifications Description Units Minimum Maximum Comment Allowed voltage at pin Vdc 0 36 Maximum discernable voltage high range Vdc 34 10 36 5 35 3 Vdc is typical Minimum discernable voltage high range mV 0 130 Maximum discernable voltage middle range Vdc 5 13 5 38 5 26 Vdc is typical Minimum discernable voltage low range mV 0 20 Precision high range mV 9 Worst case error high range Vdc 1 16 Precision middle range mV 1 3 Worst case error middle range mV 120 Input impedance pulled up to 5 Vdc or ground 0 13 9 14 3 middle range Input impedance pulled up to 2 5 Vdc middle 0 7 2 74 range Input impedance no pull ups middle range kQ 230 236 Input impedance pulled up to 5 Vdc or ground kQ 13 0 13 4 high range Input impedance pulled up to 2 5 Vdc high kQ 6 9 7 1 range Input impedance no pull ups high range kQ 108 112 A D Refresh Rates for PLUS 1 SC Controllers PLUS 1 SC Controller A D refresh rate SC024 010 012 All 1 0 ms SC024 020 022 All 1 0 ms SC050 020 022 All 1 0 ms L1206334 Rev CA Mar 2013 SAUER DANFOSS Inputs continued PLUS 1 SC Controller Family Technical Information Inputs Outputs Types and Specifications Digital Analog Frequency DIN AIN FreqIN The characteristics2. CAN Bus Installation Total bus impedance should be 60 Q The CAN transceiver will be damaged by any voltage outside of allowable range 7 to 36 Vdc even with a very short pulse If using shielded cable the shield must be grounded to the machine ground at one point only preferably at the mid point of the CAN bus Each PLUS 1 module CAN shield pin must be connected to the cable shield L1206334 Rev CA Mar 2013 15 SAUER DANFOSS CAN Controller Area Network continued PLUS 1 SC Controller Family Technical Information Controller Area Networks Specifications Expansion Module CAN Bus Loading System designers incorporating PLUS 1 expansion modules in their applications should be aware of PLUS 1 CAN bus loading and controller memory usage during system design Each expansion module is associated with a PLUS 1 controller and uses part of the controller s memory resources for inter module communications The table below can be used to estimate system CAN bus loading and the memory impact of I O modules on their associated controller Estimated Usage of Memory and Communication Resources Description IX012 010 IX024 010 0X012 010 0X024 010 10X012 010 10X024 20 Estimated module bus load using default update and 250K bus speed 4 10 11 27 11 27 Estimated module bus load using 70 ms updates and 250K bus speed 2 5 3 8 4 8
3. RAM usage on SC024 010 SC024 020 9 12 9 14 9 17 RAM usage on SC050 020 1 1 1 2 1 2 ROM usage on SC024 010 SC024 020 8 11 12 18 10 20 ROM usage on SC050 020 3 4 4 6 3 8 Internal Micro Micro Uart 16 There are two channels fully dedicated to diagnostic communication between processors One channel is dedicated to processor diagnostics and the other is dedicated to CAN_ 1 message send and receive diagnostics The hardware and low level software provide a basic framework for communication on each channel however the specific data structure is not predefined because the data to be transferred is application dependent Baud rate Up to 7 5 M Termination N A L1206334 Rev CA Mar 2013 SAUER DANFOSS Power Battery power must be supplied to designated power up digital inputs since the controller s 3 to 12 Vdc regulated power supply is not available when the controller is in lower power mode PLUS 1 SC Controller Family Technical Information Product Ratings Module Supply Voltage Maximum Current Ratings PLUS 1 modules are designed to operate with a nominal 7 to 36 Vdc power supply The modules will survive with full functionality if the supply voltage remains below 36 Vdc Specifications Description Units Minimum Max
4. Output is not damaged and fault is detected Short circuit to battery Output is not damaged and fault is detected Specifications Description Units Minimum Maximum Comment Output short circuit voltage Vdc 36 Sensor output voltage Vdc 3 12 Output current mA 0 500 The maximum power must be limited to 2 5 Watts for Vout greater than 5 Vdc Output Load Capacitance HF 10 Hold up time after power loss ms 5 15 SC Controllers feature two additional levels of regulated power 1 6 Vdc and 3 3 Vdc The PLUS 1 GUIDE application developer can detect open and short digital inputs when these power supplies are used in conjunction with DIN AIN inputs Specifications Description Units Minimum Maximum Comment Output short circuit voltage Vdc 36 Output voltage sensors Vdc 3 12 Sensor power supply drops below minimum if controller power supply is less than 7 Vdc Output voltage DIN diagnostics Vdc 1 58 1 76 Nominal 1 6 Output voltage DIN diagnostics Vdc 3 21 3 45 Nominal 3 3 11206334 Rev CA Mar 2013 SAUER DANFOSS EEPROM Write Erase Ratings Environmental Testing Criteria PLUS 1 SC Controller Family Technical Information Product Ratings To prevent unexpected memory writes care must be taken to ensure memory with a high number of read write cycles is either U32 or S32 data types Specifications Description Minim
5. 3 units stacked on one another Individually side mounted In each case care must be taken to insure that the module connector is positioned so that moisture drains away from the connector If the module is side or stack mounted provide a drip loop in the harness If the module is mounted vertically the connector should be on the bottom of the module Provide strain relief for mating connector wires O Caution Module damage may occur Use caution when installing modules Due to the size of the mating connector wire bundle it is possible to twist off the end cap of the module if excessive pressure is applied during the installation of harness strain relief Suggested Fasteners and Recommended Installation Torque Mounting method Recommended OD Recommended torque Bulkhead mount multiple units stacked single 6 0 mm 25 in 9 49 Nem 7 ft lb Machine Diagnostic Connector It is recommended that a diagnostic connector be installed on machines that are controlled by PLUS 1 modules The connector should be located in the operator s cabin or in the area where machine operations are controlled and should be easily accessible Communication software uploads and downloads and service and diagnostic tool interaction between PLUS 1 modules and personal computers is accomplished over the vehicle CAN network The diagnostic connector should tee into the vehicle CAN bus and have the following elements CAN CAN
6. Analog Frequency DIN AIN FreqIN Digital Analog Resistance 4 20 mA Current DIN AIN ResIN CrntIN Digital Analog 1 6 Vdc Sensor Power DIN AIN SnsrPwr1 6Vdc Digital Analog 3 6 Vdc Sensor Power DIN AIN SnsrPwr3 6Vdc Each PLUS 1 module input pin supports one of the above functional types For pins with multiple functions input configurations are user programmable using PLUS 1 GUIDE templates 6 11206334 Rev CA Mar 2013 5 SAUER DANFOSS Inputs continued PLUS 1 SC Controller Family Technical Information Inputs Outputs Types and Specifications Digital Analog DIN AIN A D Refresh Rates Multifunction pins that are configured to be DIN are subject to the same update rates as the analog input function for that pin Debounce is not used as hysteresis is built into the function The time to recognize a transition is dependent on the timing of the switch activation and the sample rate General Description Comment Response to input below minimum voltage Non damaging non latching reading saturates to the low limit Response to input above maximum voltage Non damaging non latching reading saturates to the high limit Response to input open Pin configuration dependent No pull up no pull down floating Pull up to 5 Vdc 5 Vde Pull down 0 Vdc Pull up pull down 2 5 Vdc Voltage working ranges Programmable see specific data sheets for ranges
7. extends to product housings connectors and control circuitry OEM Responsibility The OEM of a machine or vehicle in which PLUS 1 electronic controls are installed has the full responsibility for all consequences that might occur Sauer Danfoss has no responsibility for any consequences direct or indirect caused by failures or malfunctions e Sauer Danfoss has no responsibility for any accidents caused by incorrectly mounted or maintained equipment Sauer Danfoss does not assume any responsibility for PLUS 1 products being incorrectly applied or the system being programmed in a manner that jeopardizes safety e _ All safety critical systems shall include an emergency stop to switch off the main supply voltage for the outputs of the electronic control system All safety critical components shall be installed in such a way that the main supply voltage can be switched off at any time The emergency stop must be easily accessible to the operator L1206334 Rev CA Mar 2013 SAUER PLUS 1 SC Controller Family 6 DANFOSS Technical Information Inputs Outputs Types and Specifications PLUS 1 modules have input or output pins that support multiple functions Pins that support multiple input or output types are user configurable using PLUS 1 GUIDE software Refer to product data sheets for the input output I O content of individual modules Inputs Input Types Digital or Analog DIN AIN Analog Input Offset A D Refresh Rate Digital
8. full temperature range 40 C to 85 C 40 F to 185 F Input impedance pulled to 5 Vdc or ground high range KO 13 0 13 4 Input impedance pulled to 2 5 Vdc high range KO 6 9 7 1 Input impedance no pull ups high range KO 108 112 Input impedance pulled to 5 Vdc or ground middle range KO 13 9 14 3 Input impedance pulled to 2 5 Vdc middle range KO 72 74 Input impedance no pull ups middle range KO 230 236 10 L1206334 Rev CA Mar 2013 SAUER DANFOSS Outputs PLUS 1 SC Controller Family Technical Information Inputs Outputs Types and Specifications Output Types e Digital DOUT e Pulse width modulated PWM DOUT PVGOUT Output Pins Available on Individual PLUS 1 SC Controllers PLUS 1 SC Controllers DOUT 3 A PWMOUT DOUT 3 A SC024 010 4 SC024 020 8 SC050 020 6 8 PLUS 1 control modules feature user configurable output pin parameters Output pin parameters are configured using PLUS 1 GUIDE templates Refer to module data sheets for maximum output current ratings of individual modules The total output current for any PLUS 1 module must not exceed the maximum allowable current specified in the module data sheet Warning Unintended movement of the machine or mechanism may cause injury to the technician or bystanders The module will be powered up if battery voltage is applied to the module s output pin To protect against unintended movement secure
9. of Digital Analog Frequency pins are GUIDE software controlled The input can be digital analog or frequency Inputs can be pulled to 5 Vdc pulled to ground pulled to 2 5 Vdc or no pull up pull down General Description Comment Response to input below Non damaging non latching reading saturates to the low limit minimum voltage Response to input above Non damaging non latching reading saturates to the high limit maximum voltage Expected measurement Frequency Hz Period 0 1 sec Channel to channel phase shift paired inputs 0 1 ms PWM duty cycle 0 01 Duty cycle measurement only valid up to 5 kHz FreqIN Edge count Quadrature count paired inputs driven from a quadrature encoder Pull up pull down configuration No pull down pull up is standard with pull up or pull down programmable failure modes are detectable Specifications Description Units Minimum Maximum Comment Allowed voltage at pin Vdc 0 36 Frequency range Hz 0 10 000 In steps of 1 Hz Frequency input when used as quad count or phase shift Hz 0 5000 In steps of 1 Hz Maximum discernable voltage high range Vdc 34 1 36 5 35 3 Vdc is typical Minimum discernable voltage high range mV 0 130 Maximum discernable voltage middle range Vdc 15 13 5 38 5 26 Vdc is typical Minimum discernable voltage middle range mV 0 20 Ma
10. the machine O Caution Warranty will be voided if module is damaged by significant current driven back through an output pin L1206334 Rev CA Mar 2013 11 SAUER 5 DANFOSS Outputs continued 12 PLUS 1 SC Controller Family Technical Information Inputs Outputs Types and Specifications Digital DOUT Digital outputs can source up to 3 A General Description Comment Configuration Sourcing only Type Linear switching Short circuit to ground protection Non damage current thermal limit with status indication automatic latch off resume Open circuit detection Fault indication provided The GUIDE Pin Status requires a load of 0 22 A to be connected or an open fault will be declared Parallel operation Digital outputs from the same module are capable of being connected together such that the net current rating is the sum of the individual ratings timing is resolved by the operating system diagnostic capability is maintained Shut off Processor control with hardware WatchDog override Specifications Description Units Minimum Maximum Comment Output voltage energized state Vdc Vbatt 1 0 Vbatt Over all load conditions Output voltage off state Vdc 0 0 1 At Rload 200 0 Output current range for a status A 0 22 3 See note regarding pair above bit to read OK Do not connect a digital output to battery back drive wi
11. vibrating components Avoid long unsupported wire spans All analog sensors should be powered by the sensor power source from the PLUS 1 controller and ground returned to the sensor ground pin on the PLUS 1 controller Sensor lines should be twisted about one turn every 10 cm 4 in It is better to use wire harness anchors that will allow wires to float with respect to the machine rather than rigid anchors Electronic modules should be grounded to a dedicated conductor of sufficient size that is connected to the battery Recommended Machine Equipped with PLUS 1 Module Welding Procedures The following procedures are recommended when welding on a machine equipped with PL US 1 modules The engine should be off Disconnect the negative battery cable from the battery Do not use electrical components to ground the welder Clamp the ground cable for the welder to the component that will be welded as close a possible to the weld L1206334 Rev CA Mar 2013 23 6 SAUER PLUS 1 SC Controller Family DANFOSS Technical Information Product Installation continued 24 Product Installation and Start up PLUS 1 USB CAN Gateway Communication software uploads and downloads and service and diagnostic tool interaction between PLUS 1 modules and a personal computer PC is accomplished using the vehicle s PLUS 1 CAN network The PLUS 1 CG150 USB CAN gateway provides the communication interface between a PC USB port and th
12. voltage Lower power mode current consumption 12 Vdc 20 mA 24 Vdc 20 mA Either of two conditions will wake up the controller The power supplies can be re energized by cycling battery power Generating a positive rising edge on one of several inputs SC024 010 C1p5 C1p6 C1p7 C1p10 C1p11 C1p12 C2p1 C2p7 C2p8 SC024 020 C1p5 C1p6 C1p7 SC050 020 C1p5 C1p6 C1p7 C1p18 C1p19 C1p23 C1p24 C1p25 C1p31 C1p32 L1206334 Rev CA Mar 2013 17 SAUER 5 DANFOSS Power continued 18 PLUS 1 SC Controller Family Technical Information Product Ratings Module Supply Voltage Maximum Current Ratings continued Specifications Description Units Minimum Maximum Comment Power up pin threshold Vdc 2 36 To wake up by cycling input power Power up pin threshold Vdc 4 5 36 To wake up by digital input Power up time delay mSec 250 500 SRon Minimum V ms The voltage applied to the input voltage rise pins must exceed this value rate for power to guarantee the device will turn on power up Toff Turn off time ms 150 400 From software commanded shutdown to micro reset Sensor Power Supply Ratings PLUS 1 modules that support sensor inputs are provided with dedicated software adjustable regulated sensor power supply and ground pins Refer to individual product data sheets for sensor power supply current ratings General Description Comment Short circuit to ground
13. 2 ISO 13766 Electromagnetic compatibility for earth moving machinery Electrostatic discharge EN 60 1 000 4 2 Auto electrical transients ISO 7637 2 ISO 7637 3 Short circuit protection Sauer Danfoss test Inputs and outputs survive continuous short circuit Normal function resumes when short is removed Reversed polarity protection Sauer Danfoss test Survives reverse polarity at supply voltage for at least five minutes Modules Housing PLUS 1 module housings feature a snap together assembly that is tamper proof Once assembled at the factory the housing cannot be opened for service Opening the modules housing will void the factory warranty 11206334 Rev CA Mar 2013 SAUER DANFOSS General Comments PLUS 1 SC Controller Family Technical Information Product Installation and Start up Mating Connectors PLUS 1 SC Controllers use Deutsch connectors Sauer Danfoss has assembled a mating connector kit referred to as a bag assembly for the 24 and 50 pin module housings Mating connector bag assembly ordering information is found in the product data sheet for each module Deutsch Mating Connector Part Information Description 24 pin module 50 pin module Crimp tool HDT48 00 HDT48 00 solid contacts solid contacts 20 to 24 AWG 20 to 24 AWG DTT20 00 DTT20 00 stamped contacts s
14. 6395 6066 Fax 81 6 6395 8585 www sauer danfoss com
15. CAN shield Grounding Proper operation of any electronic control system requires that all control modules including displays microcontrollers and expansion modules be connected to a common ground A dedicated ground wire of appropriate size connected to the machine battery is recommended Hot Plugging Machine power should be off when connecting PLUS 1 modules to mating connectors 11206334 Rev CA Mar 2013 SAUER DANFOSS Product Installation continued PLUS 1 SC Controller Family Technical Information Product Installation and Start up Recommended Machine Wiring Guidelines 1 10 11 12 13 14 All wires must be protected from mechanical abuse Wires should be run in flexible metal or plastic conduits Use 85 C 185 F wire with abrasion resistant insulation 105 6 221 F wire should be considered near hot surfaces Use a wire size that is appropriate for the module connector Separate high current wires such as solenoids lights alternators or fuel pumps from sensor and other noise sensitive input wires Run wires along the inside of or close to metal machine surfaces where possible This simulates a shield which will minimize the effects of EMI RFI radiation Do not run wires near sharp metal corners Consider running wires through a grommet when rounding a corner Do not run wires near hot machine members Provide strain relief for all wires Avoid running wires near moving or
16. PLUS 1 SC 6 ae Controller Family Technical Information s p c p 4 by SAUER DANI L1206334 Rev CA Mar 2013 SAUER PLUS 1 SC Controller Family 6 DANFOSS Technical Information Revisions Revision History Table of Revisions Date Page Changed Rev 11 Mar 2013 17 SC050 020 input condition CA 06 Nov 2012 Various BA 15 Jul 2012 AA 2013 Sauer Danfoss All rights reserved Sauer Danfoss accepts no responsibility for possible errors in catalogs brochures and other printed material Sauer Danfoss reserves the right to alter its products without prior notice This also applies to products already ordered provided that such alterations can be made without affecting agreed specifications All trademarks in this material are properties of their respective owners Sauer Danfoss the Sauer Danfoss logotype the Sauer Danfoss S icon PLUS 1 What really matters is inside and Know How in Motion are trademarks of the Sauer Danfoss Group 2 L1206334 Rev CA Mar 2013 SAUER DANFOSS Product Overview Inputs Outputs Types and Specifications Controller Area Network Specifications Product Ratings Product Installation and Start up PLUS 1 SC Controller Family Technical Information Contents ADOUETNIS Manual mariannnnenacnnunainntentenniunninmanennenaeiinn 4 PLUS 1 SC Controller Family Technical Information 4 What information is in
17. Testing Criteria 20 Modules HOUSING ses senterets 20 General COMMENTS nr Mating Connectors Product Installations 0 NE EE dentaires Machine Diagnostic Connector Grondig onasan RE R EEEN Hot PIIGGING Lals Recommended Machine Wiring Guidelines 23 Recommended Machine Equipped with PLUS 1 Module Welding Procedures 23 PLUS 1 USB CAN Gate Way raser 24 L1206334 Rev CA Mar 2013 3 SAUER DANFOSS About This Manual Module API specifications are the definitive source of information regarding PLUS 1 module pin characteristics PLUS 1 product literature is available at www sauerdanfoss com PLUS 1 SC Controller Family Technical Information Product Overview PLUS 1 SC Controller Family Technical Information This technical information manual is designed to be a comprehensive PLUS 1 product family hardware module reference tool for vehicle OEM design engineering and service personnel It is one of four sources of PLUS 1 product technical information Other sources include individual module product data sheets module specific Application Program Interface API specifications the PLUS 1 GUIDE Software User Manual literature number 10100824 and the PLUS 1 SC Controller Family Safety Manual literature number L1228981 What information is in this manual This manual describes unique characteristics and electrical details of PLUS 1 SC Controllers includi
18. ameters How to use the PLUS 1 service tool What information is in the PLUS 1 SC Controller Family Safety Manual Detailed information necessary to design implement verify and maintain a safety function utilizing the PLUS 1 SC050 020 Controller This manual provides necessary requirements for meeting the IEC 61508 functional safety standard Failure Modes Effects and Diagnostic Analysis FMEDA Summary Standards and references used L1206334 Rev CA Mar 2013 SAUER DANFOSS PLUS 1 SC Controller Family of Mobile Machine Management Products User Liability and Safety Statements PLUS 1 SC Controller Family Technical Information Product Overview 24 and 50 Pin SC Controllers Both modules come in the same sized blue housing PLUS 1 modules are designed to provide flexible expandable powerful and cost effective total machine management systems for off highway vehicles These modules communicate with one another and other intelligent systems over a machine Controller Area Network CAN data bus PLUS 1 hardware products are designed to be equally effective in a distributed CAN system with intelligence in every node or as stand alone control for smaller machine systems PLUS 1 systems are incrementally expandable additional modules can be easily added to the machine CAN bus to increase system capabilities or computational power PLUS 1 controller products utilize modular designs wherever possible This modularity
19. e API Dither amplitude A 0 0 5 Increased in steps see module API Over current trip point A 5 73 There is over current protection built into each output driver If the instantaneous current exceeds the trip point the driver is latched off GUIDE application software can reset the latch and attempt to drive current again For each PWM output there are two switches in series for sourcing current voltage the high side of the half bridge has two switches One switch is controlled and monitored by the secondary controller and the other is controlled and monitored by the primary controller The secondary controller can monitor the condition of the redundant switch under its control with a digital voltage feedback signal Each sourcing PWM output can be disconnected from its supply voltage at any time by the secondary controller with this redundant switch When the redundant switch is disabled it must remain disabled by the kernel for 250 ms before the secondary controller s application is allowed to re enable the redundant switch When the switch controlled by the secondary controller is enabled then the PWM outputs are allowed to source current as commanded by the primary controller The primary controller can monitor the condition of its switch with the analog current feedback measurement L1206334 Rev CA Mar 2013 SAUER DANFOSS CAN Controller Area Network PLUS 1 SC Controller Family Technical Information Controller Ar
20. e vehicle CAN bus When connected to a PC the gateway acts as a USB slave In this configuration all required electrical power is supplied by the upstream PC host No other power source is required Refer to the PLUS 1 GUIDE Software User Manual literature number 10100824 for gateway set up information Refer to the CG150 USB CAN Gateway Data Sheet literature number 520L0945 for electrical specifications and connector pin details L1206334 Rev CA Mar 2013 SAUER PLUS 1 SC Controller Family DANFOSS Technical Information Notes L1206334 Rev CA Mar 2013 25 SAUER PLUS 1 SC Controller Family 6 DANFOSS Technical Information Notes 26 L1206334 Rev CA Mar 2013 SAUER PLUS 1 SC Controller Family DANFOSS Technical Information Notes L1206334 Rev CA Mar 2013 27 SAUER 5 DANFOSS e Bent Axis Motors e Closed Circuit Axial Piston Pumps and Motors e Displays e Electrohydraulic Power Steering e Flectrohydraulics e Hydraulic Power Steering e Integrated Systems e Joysticks and Control Handles e Microcontrollers and Software e Open Circuit Axial Piston Pumps e Orbital Motors e PLUS 1 GUIDE e Proportional Valves e Sensors e Steering e Transit Mixer Drives Members of the Sauer Danfoss Group Comatrol www comatrol com Schwarzmiiller Inverter www schwarzmueller inverter com Turolla www turollaocg com Hydro Gear www hydro gear com Sauer Danfoss Daikin www sauer danfos
21. ea Network Specifications There are two channels fully dedicated to CAN communications on the 50 pin hardware One channel routed to the primary processor only and the other channel is routed to both the primary and secondary processors There is one channel fully dedicated to CAN communications on the 24 pin hardware This channel is routed to both the primary and secondary processors Baud rate Up to 1 M Termination No internal termination CAN System Design All PLUS 1 modules have CAN ports that conform to CAN 2 0B specifications including CAN shield A Warning Unintended movement of the machine or mechanism may cause injury to the technician or bystanders Machine performance may be impaired if CAN communications are disrupted by electrical fields in excess of 30 V m between 20 and 30 MHz To prevent potential unintended machine movement and to meet EMC requirements a shielded CAN bus must be used to achieve 100 V m immunity Terminating Resistor Each end of the main backbone of the CAN bus must be terminated with an appropriate resistance to provide correct termination of the CAN Hand CAN L conductors This termination resistance should be connected between the CAN Hand CAN L conductors Specifications Description Units Minimum Maximum Nominal Comment Resistance Q 110 130 120 Minimum power dissipation 400 mW assumes a short of 16 Vdc to CAN H Inductance uH 1
22. heets current All modules Ingress Protection IP 67 IP rating All modules CE rating CE compliant The PLUS 1 modules IP 67 rating is only valid when the module mating connector is in place and unused connector pin positions have sealing plugs installed L1206334 Rev CA Mar 2013 19 5 SAUER DANFOSS Environmental Testing Criteria continued 20 PLUS 1 SC Controller Family Technical Information Product Ratings PLUS 1 SC Controller Environmental Testing Criteria Climate Environment Description Applicable standard Comment Storage temperature IEC 60068 2 1 test Ab IEC 60068 2 2 test Bb Operating temperature IEC 60068 2 1 test Ab IEC 60068 2 2 test Bd Thermal cycle IEC 60068 2 2 test Na IEC 60068 2 38 partial Humidity IEC 60068 2 78 IEC Damp heat steady state and cyclic 60068 2 30 test Db Degree of protection IEC 60529 Chemical Environment Description Applicable standard Comment Chemical resistance ISO 16750 5 Mechanical Environment Description Applicable standard Comment Vibration IEC 60068 2 6 test Fc IEC 6008 2 64 test Fh Bump IEC 60068 2 29 test Eb Shock IEC 60068 2 27 test Ea Free fall IEC 60068 2 32 test Ed Electrical Electromagnetic Description Applicable standard Comment EMC emission EN ISO 14982 ISO 13766 Electromagnetic compatibility for earth moving machinery EMC immunity EN ISO 1498
23. imum Comment Allowed voltage at pin Vdc 0 36 Allowed module current A 0 Consult module data sheets for maximum allowable current SRon Minimum voltage rise V ms 1 The voltage applied to the power rate for power turn on pins must exceed this value to guarantee the device will power up Ton Turn on time ms 250 From applied battery power to application software start O Caution PCB damage may occur To prevent damage to the module all module power supply pins must be connected to the vehicle power supply to support advertised module maximum output current capacity DO NOT use module power supply pins to supply power to other modules on a machine Lower Power Mode This feature gives OEM designers the ability to implement automotive like features in their machine control system design If the lower power mode feature is not implemented this controller has the same operating characteristics as any other PLUS 1 controller When used as a lower power mode controller supply power to the module is connected directly to the battery Lower power mode initiation is defined by the controller s application software PLUS 1 GUIDE programmers define the conditions under which the controller is to put into lower power mode When in lower power mode controller outputs are set to zero sensor power supply is off and the controller consumes a small amount of current Controller Lower Power Mode Current Consumption Supply
24. ng general specifications input and output parameters environmental ratings and installation details What information is in individual module product data sheets Parameters that are unique to an individual module are contained in the module product data sheet Data sheets contain the following information Numbers and types of inputs and outputs Module connector pin assignments Module maximum current capacity Module sensor power supply if present current capacity Module installation drawing Module weights Product ordering information What information is in individual module API specifications Detailed information about the module BIOS is contained in the module API specification PLUS 1 BIOS functionality is pin dependent Pins are defined in module data sheets as 6 connector number p pin number API specifications include Variable name Variable data type Variable direction read write Variable function and scaling What information is in the PLUS 1 GUIDE Software User Manual Detailed information regarding the PLUS 1 GUIDE software tool set that is used to build PLUS 1 machine management solutions is contained in the user manual This manual covers the following broad topics e How to use the GUIDE graphical application development tool to create machine applications How to configure module input and output parameters How to download GUIDE applications to target PLUS 1 hardware modules How to upload and download tuning par
25. not connect a digital output to battery back drive without a series diode PLUS 1 PWM output circuits are not designed to be used as inputs Output current feedback readings should be used for fault checking only A Warning Unintended movement of the machine or mechanism may cause injury to the technician or bystanders The module will be powered up if battery voltage is applied to the module s output pin To protect against unintended movement secure the machine Caution Warranty will be voided if module is damaged by significant current driven back through an output pin L1206334 Rev CA Mar 2013 13 6 SAUER PLUS 1 SC Controller Family DANFOSS Technical Information Outputs continued 14 Inputs Outputs Types and Specifications Pulse Width Modulated PWMOUT DOUT continued Specifications Description Units Minimum Maximum Comment Full scale proportional mA 10 3000 The current may accidently be current output exceeded in open loop mode If the current exceeds the trip point the output will be latched off Output voltage 100 duty cycle Vdc 0 Vbatt 1 Output resolution of 3A mA 0 25 Repeatability of full range of full 0 5 scale Absolute accuracy of full range of full 0 3 scale Output settling time ms 100 Depends on load characteristics PWM frequency Hz 33 4000 and 20 000 Dither frequency Hz 40 250 Increased in steps see modul
26. r frequency high range input to read low Rising voltage threshold Vdc 1 78 3 92 Voltage required for frequency middle range input to read high Falling voltage threshold Vdc 0 84 2 79 Voltage required for frequency middle range input to read low Rising voltage threshold Vdc 0 11 0 30 Voltage required for frequency low range input to read high Falling voltage threshold Vdc 0 04 0 22 Voltage required for frequency low range input to read low Potential for IX modules to not go online If voltage is applied to an IX module input pin prior to the module being powered on there is a possibility that the module CPU will not power up The module is not damaged and will power up and operate normally once power is removed from the input pins It is recommended that either the IX modules 5 Vdc sensor power be used to power sensors or that power is removed from the input pins until the module is powered up If the frequency goes to zero the data will not decay over time it will be updated once a new pulse is seen or times out It is possible to monitor the count of pulses to know when the frequency reading is updated L1206334 Rev CA Mar 2013 9 SAUER PLUS 1 SC Controller Family 6 DANFOSS Technical Information Inputs Outputs Types and Specifications Inputs continued Digital Analog Resistance 4 20 mA Current DIN AIN ResIN CrntIN When a PLUS 1 SC Controller input pin is configured as a resistance
27. rent control In open loop mode current can be sourced or sunk all modules are limited to 8 amps sinking but the output is a PWM duty cycle Current feedback may be monitored in open loop mode but the output is a constant voltage not a constant current PVG valves may be driven with open loop PWM In closed loop mode current is sourced and a constant current is maintained by the module s operating system using internal current feedback Load impedance must not exceed 65 ohms In closed loop mode the maximum current is limited by measuring the feedback current There is no thermal protection If the maximum current is exceeded the controller kernel will shut down the output and latch it The kernel also limits how quickly the output can be repowered 250 ms The output cannot be reset until the command goes to 0 or False if configured as a digital output Refer to individual module data sheets for the maximum allowable output current for each PLUS 1 module General Description Comment Configuration Sourcing or sinking Type Linear vs PWM PWM Operating modes Programmable closed loop current or open loop voltage duty cycle Dual coil PCPs Compensated for induced currents in a non driven coil closed loop mode Short circuit to ground Output fully protected against damage and fault detected Mode selection current or voltage and full Programmable scale current ranges Do
28. rheostat temp sensor input the device will provide up to 3 76 mA current to an external load RL which then can be measured The equation for relating AD counts to a given load is AD counts 30996 RL RL 1322 This calculation is solved internally and the ohms value is available for the programmer The following chart shows the relationship between AD counts and load resistance in ohms Rheostat Inputs 30000 25000 AD Counts 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 Load Resistance O P200 083 Specifications Description Units Minimum Maximum Comment Allowed voltage at pin Vdc 0 36 Measured resistance 0 0 10 000 Minimum discernable current mA 0 0 1 Maximum discernable current mA 25 3 27 Precision HA 6 Worst case error HA 868 Over the full temperature range 40 C to 85 C 40 F to 185 F Input impedance 0 198 6 202 6 Maximum over current protection time ms 250 Recover time after over current protection 5 5 4 Maximum discernable voltage high range Vdc 25 3 Minimum discernable voltage high range mV 0 130 Precision high range mV 9 Worst case error high range Vdc 1 16 Over the full temperature range 40 C to 85 C 40 F to 185 F Maximum discernable voltage middle range Vdc 5 13 5 38 Minimum discernable voltage middle range mV 0 20 Precision middle range mV 13 Worst case error mV 120 Over the
29. s daikin com Sauer Danfoss is a global manufacturer and supplier of high quality hydraulic and electronic components We specialize in providing state of the art technology and solutions that excel in the harsh operating conditions of the mobile off highway market Building on our extensive applications expertise we work closely with our customers to ensure exceptional performance for a broad range of off highway vehicles We can help speed up system development reduce costs and bring your vehicles to market faster Sauer Danfoss Your Strongest Partner in Mobile Hydraulics Go to www sauer danfoss com for further product information Wherever off highway vehicles are at work so is Sauer Danfoss We offer expert worldwide support for our customers ensuring the best possible solutions for outstanding performance And with an extensive network of Global Service Partners we also provide comprehensive global service for all of our components Local address Sauer Danfoss US Company Sauer Danfoss ApS 2800 East 13th Street DK 6430 Nordborg Denmark Ames IA 50010 USA Phone 45 7488 4444 Phone 1 515 239 0 Fax 45 7488 4400 Fax 1515 239 6618 Sauer Danfoss GmbH amp Co OHG Sauer Danfoss Daikin LTD Postfach 2460 D 24531 Neum nster Shin Osaka TERASAKI 3rd Bldg 6F Krokamp 35 D 24539 Neum nster Germany 1 5 28 Nishimiyahara Yodogawa ku Phone 49 4321 8710 Osaka 532 0004 Japan Fax 49 4321 871 122 Phone 81 6
30. tamped contacts 16 to 20 AWG 16 to 20 AWG Contacts Solid 0462 201 2031 Solid 0462 201 2031 20 to 24 AWG 20 to 24 AWG Stamped 1062 20 0144 Stamped 1062 20 0144 16 to 20 AWG 16 to 20 AWG Connector plug Gray A Key DRC26 50S01 DTM 06 12SA Black B Key DTM 06 12SB Wedge WM 12S Not required Strip length 3 96 to 5 54 mm 3 96 to 5 54 mm 0 156 to 0 218 in 0 156 to 0 218 in Rear seal 3 05 mm 0 120 in 2 41 mm 0 095 in maximum insulation OD Sealing plugs 0413 204 2005 0413 204 2005 Sauer Danfoss Mating Connector Part Information Description 24 pin module 50 pin module Mating connector bag assembly 20 to 24 AWG 10100945 10100946 Mating connector bag assembly 16 to 20 AWG 10102023 10102024 Sauer Danfoss Crimp Extraction Tool Part Information Description Part number Crimp tool for 20 to 24 AWG 10100745 Crimp tool for 16 to 20 AWG 10102028 Extraction tool Deutsch 114010 12 AWG 11068808 Extraction tool Deutsch 0144 240 2005 16 to 20 20 to 24 AWG 10100744 PLUS 1 module mating connectors may be mated 10 times Recommended torque for the Deutsch mating connector retaining fastener on the 50 pin connector is 20 Ib in 2 26 Nem L1206334 Rev CA Mar 2013 21 SAUER DANFOSS Product Installation 22 PLUS 1 SC Controller Family Technical Information Product Installation and Start up Mounting PLUS 1 modules can be mounted in one of three ways End bulkhead installation Up to
31. this manual rennes 4 What information is in individual module product data sheets 4 What information is in individual module API specifications 4 What information is in the PLUS 1 GUIDE Software User Manual ssssssss ssssssssssssssssssssssssssss 4 What information is in the PLUS 1 SC Controller Family Safety Manual PLUS 1 SC Controller Family of Mobile Machine Management Products 5 OEM Responsibility ac sstscssssscissssszecseectesssc ecacdecssst esssevervecd edscebecscbenssscbentecbesecboranstoee ecderasst sasedleebaeveeasevd 5 OS seder HD nn Digital Analog DIN AIN A D Refresh Digital Analog Frequency DIN AIN FrEqIN ns Digital Analog Resistance 4 20 mA Current DIN AIN ResIN CrntIN OUP UTS mere enr en en en eine entente COLE de UE TY DOS 4 0 niet ERS Pulse Width Modulated PWMOUT DOUT sn CAN Controller Area Network mener 15 CAIN 5 5 50 15 2 15 CAN Bus Installation Expansion Module CAN Bus Loading 16 Internal Micro Micro Uart n msseuseesesseeseessseessereesserssseesssresssersssersssessssessseseeseresseresseersseeesseeessersssserssser 16 Module Supply Voltage Maximum Current Ratings 0 Sensor Power Supply Ratings sus EEPROM Write Erase Ratings Environmental Testing Criteria General Product Ratings c cescccxeescree PLUS 1 SC Controller Environmental
32. thout a series diode For each digital output there are two switches in series One switch is controlled and monitored by the secondary controller and one is controlled and monitored by the primary controller The secondary controller can monitor the condition of the redundant switch under its control with a digital voltage feedback signal Any output can be disconnected from its supply voltage at any time by the secondary controller with this redundant switch When the redundant switch is disabled it must remain disabled by the kernel for 250 milliseconds before the secondary controller s application is allowed to re enable the redundant switch When the redundant switch controlled by the secondary controller is enabled then the digital outputs can be enabled disabled as commanded by the primary controller The primary controller can monitor the condition of its switch with a digital voltage feedback signal L1206334 Rev CA Mar 2013 SAUER DANFOSS Outputs continued PLUS 1 SC Controller Family Technical Information Inputs Outputs Types and Specifications Pulse Width Modulated PWMOUT DOUT All PLUS 1 module proportional outputs are Pulse Width Modulated PWM PWM frequency is software adjustable using GUIDE A low frequency dither may also be added with software to some outputs see individual module API specifications for PWM outputs that support dither There are two modes of PWM operation open loop and closed loop cur
33. um Maximum Comment EEPROM write erase cycles 1 million Minimum valid over entire operating temperature range EEPROM used in PLUS 1 controllers is rated for one million read write cycles per sector Sector size is 32 bits When a value is written to EEPROM all 32 bits in a particular sector are always written regardless of the size of the size of the saved value If the value being saved in a sector is less than 32 bits such as U8 S16 BOLL etc adjacent bits in the same EEPROM sector are rewritten with their previous value The implication of this memory property is that if two values are being written to the same memory sector the useful life of the sector is determined by the value being written most frequently If that value exceeds 1 million read write cycles all values in the sector may be compromised if the useful life is exceeded General Product Ratings Description Units Minimum Maximum Comment Operating temperature CF 40 40 85 185 Storage temperature CIA 40 40 85 185 Allowable module supply voltage Vdc 7 36 Module sensor supply voltage Vdc 3 12 Sensor voltage drops below the minimum value if module supply voltage lt 7 Vdc Sensor Power Supply Ratings page 18 Analog input voltage levels Vdc 36 Allowable output load current A See individual module date sheets per pin Module allowable total output A See individual module data s
34. ximum discernable voltage low range Vdc 0 341 0 395 0 368 Vdc is typical Minimum discernable voltage low range mV 0 12 9 Precision high range mV 9 Worst case error high range Vdc 1 16 Precision middle range mV 13 Worst case error middle range mV 120 Precision low range uV 90 Worst case error low range mV 7 Input impedance pulled to 5 Vdc or ground low range 0 13 9 14 3 Input impedance pulled to 2 5 Vdc low range kQ 7 2 7 4 Input impedance no pull ups low range kQ 230 236 Input impedance pulled to 5 Vdc or ground kQ 13 9 14 3 middle range Input impedance pulled to 2 5 Vdc middle range kQ 7 2 74 Input impedance no pull ups middle range kQ 230 236 Input impedance pulled to 5 Vdc or ground high range kQ 13 13 4 Input impedance pulled to 2 5 Vdc high range kQ 6 9 7 1 Input impedance no pull ups high range kQ 108 112 L1206334 Rev CA Mar 2013 6 SAUER DANFOSS Inputs continued PLUS 1 SC Controller Family Technical Information Inputs Outputs Types and Specifications Digital Analog Frequency DIN AIN FreqIN This table shows the rising and falling thresholds when the input is used as a frequency input Specifications Description Units Minimum Maximum Comment Rising voltage threshold Vdc 11 83 26 55 Voltage required for frequency high range input to read high Falling voltage threshold Vdc 5 61 18 89 Voltage required fo
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