CAN-Control-CPU - esd electronics, Inc.
Contents
1. HA re oven 08 1S0 249180 1200 A mA E SS EJ p U 3 g FI vz 128512 x 8 oon oor C IIIS Z629ZJS TORE He ore zag Loros 0010 A 0 zo to va fa ba Q PADS az heed 3 Zo b lj O oo E a PS Sus2 Cops g i 3 i i g E mE azieozre pon be ch kol i 27 fas zak Ral ji fm jum Pc CA U201 128K 512k x 8 oon 6401 92689 sie 7 ef era oot1 49021 ozzin 9000 DOG BLN A Lowe OL O sozu mets om Corts tozi ou CL vaio us00 U FI SON 49 AA E zon Za cy a palezi er bare Pm esezay ozon Ter 8 om al PEP Orea Z6 4 a C g orate ogon PT oso UA 2 zen pism fom bra pa Q Es a ka i bss fren gesn 8 we F al A u10 74HC244 74HC244 u1140 740244 cpu canes ER rim 9463 xasga TEES oO E Tse ic2. Overview 1 2 Summary of the Technical Data 1 2 1 General Technical Data Temperature range permissible ambient temperature 0 50 C Operating voltage Connectors Table 1 2 1 General data of the module max 90 not condensing nominal voltage 18 V 30 VDC power consumption typical at 20 C approx 5 W electronical reverse battery protection safety fuse 400 mA T X10 MDSTB 2 5 3 GF 5 08 X14 DSUB9 female X24 DSUB9 male X34 DSUB25 male X44 X54 MCD 1 5 12 G1F 3 81 X404 DSUB9 female X400 X410 MCD 1 5 9 G1F 3 81 X414 DSUB9 male X420 X430 MCD 1 5 12 G1F 3 81 X424 DSUB25 female X434 X444 MCD 1 5 14 G1F 3 81 P100 4 pole SMD female P101 10 pole plug in connector P130 8 pole plug in connector PCB dimension 152 4 mm x 400 mm case dimension 19 x 1U x 240 mm power supply CAN bus interface CAN bus interface laser I O external interface RS 232 interface digital inputs 10 115 RS 422 interface digital outputs QO Q15 incremental encoder inputs external interface Rx Tx service interface BDM interface ISP interface all connectors and switches are front accessible CAN Control CPU Hardware Manual Rev 1 3 Overview 1 2 2 Microprocessor Circuits microcontroller MC68376 memory size 512 kbyte data bus wide 8 bit Flash EPROM circuit organisation 1x 512 k 8 bit circuit type 29F040 access time 70 ns memory s
3. 2 7 Reference Voltage AI 23 20 CAN terface ara geta ds id ie 24 3 Appendix xii densa a sat A TS EE O A AT AA AA EIA A a 25 Sl Connector Pin Assignmicnts ad es 25 3 1 1 Power Supply Connector X10 MSTB 2 5 3 GF 5 08 o o o o 25 3 1 2 CAN Connector X24 9 pole DSUB Male 6 26 3 1 3 CAN Connector X14 9 pole DSUB Female ooo oooo oooo o 27 3 1 4 RS 232 Connector X404 9 pole DSUB Female o 28 3 1 5 RS 422 Connector X414 9 pole DSUB Male o oooooooo 29 3 1 6 Laser Interface at X34 25 pole DSUB Female 30 3 1 7 Incremental Encoder Interface at X424 25 pole DSUB Connector 31 3 1 8 External Interface at X434 and X444 MCD 1 5 14 G1F 3 81 32 3 1 9 External Interface at X44 and X54 MCD 1 5 12 G1F 3 81 32 3 1 10 Digital Outputs at X420 and X430 MCD 1 5 12 G1F 3 81 33 3 1 11 Digital Inputs at X400 and X410 MCD 1 5 9 G1F 3 81 34 32 Front Panel AA ka ied Saas Ue Mia QALA ee DB Ae 35 3 3 Circuit A SS aa yy BG ea a eS A alg Be SG lt Ey AD 37 CAN Control CPU Hardware Manual Rev 1 3 1 This page is intentionally left blank CAN Control CPU Hardware Manual Rev 1 3 Overview 1 Technical Data 1 1 Block Diagram 3 6864 MHz D 2 8 5 128 kbyte 3 A 512 kbyte 256 kbyte SRAM 256 kbyte SRAM Rs wi ree FLASH EPROM Bank 1 16 bit Bank 2 16 bit bane we 8 bit Option 1 Mbyte Option 1 Mbyte 8 bit
4. 15 V AVCC 12V CAN Control CPU Hardware Manual Rev 1 3 23 eta CAN Interface 2 8 CAN Interface The phvsical CAN interface matches ISO 11898 The signals of the interface are electricallv isolated from the CPU For easier wiring the interface is equipped with two CAN connectors a male and a female DSUB9 connector The connectors have the same pin assignment As an option the local CAN interface can be supplied by the CAN signal CAN_V from the CAN bus The power supply must be in the following range CAN _V 8 V 13 V The power can be supplied e g from the esd CAN Control I O module The following figure shows the principle wiring between the local CAN connectors at the CAN Control CPU board reserved 1 1 1 2 CAN L 2 jie ND E 3 CAN_G 3 X24 4 Esodu LI 4 X14 9 pole DSUB Shield LIE 9 pole DSUB male connector 9 5 female connector rs CAN_GND Sis 6 6 AN_H 8 reserved 3 al 8 9 ae V IL 23 9 Option Voltage Controller Output 5 V E CAN 5 Interface DC DC gt Converter Output 5 V Rx Tx Fig 2 8 1 Wiring between the two local CAN connectors and local power supply circuit 24 CAN Control CPU Hardware Manual Rev 1 3 Connector Pin Assignment 3 Appendix 3 1 Connector Pin Assignments 3 1 1 Power Supply Connector X10 MSTB 2 5 3 GF 5 08 MSTB 2 5 3 GF 5 08 CAN Control CPU Hardware Manual Rev 1 3 25 Connector Pin Assignment
5. 3 1 2 CAN Connector X24 9 pole DSUB Male Pin Location 2 3 4 5 0 90 0 G 6 7 8 9 a Pin Assignment CAN GND CAN V Shield 9 pole DSUB female Signal Description CAN L CAN H CAN signals CAN GND reference GND of the physical layer CAN V Option supply voltage output for external CAN interfaces Shield pin for wiring the connectors shields reserved x pins that are reserved for future use Pins with the same name at X14 and X24 are connected 26 CAN Control CPU Hardware Manual Rev 1 3 Connector Pin Assignment 3 1 3 CAN Connector X14 9 pole DSUB Female CAN L CAN H CAN GND CAN V Shield reserved x Pin Location 5 4 3 2 ee ee e O ee 9 8 7 6 8 Pin Assignment CAN GND CAN V Shield 9 pole DSUB female Signal Description CAN signals reference GND of the physical layer Option supply voltage output for external CAN interfaces pin for wiring the connectors shields pins that are reserved for future use Pins with the same name at X14 and X24 are connected CAN Control CPU Hardware Manual Rev 1 3 27 Connector Pin Assignment 3 1 4 RS 232 Connector X404 9 pole DSUB Female The reference for the data direction definition is the CAN Control CPU module The reference for the signal name definition is the PC terminal DTE The shield signal can be connected to GND or protection
6. Option 512 kbyte DSUB9 Address Data and Control Bus Power Supply In 24 V DC D A Converter MAX 526 12 bit 4 Channels Out 5 V DC MDSTB 2 5 3 Voltage Reference lm Ref 1 X44 X54 MCD1 5 12 G1F 3 81 Serial A D Converter v EEPROM AD7856 4 kbit or SSI Bus e 3x analog IN L 16 kbit C 8 Channels gt AA SSI Interface a T 4 E i 4 N N Analog J i inputs K 3x analog IN 3 w a E 5 lt E b B 8 ui 1x analog OUT ele v g IL 2 gt R G a kal o g RS E 6 la 3 3 Address Signals z Data Signals Control Signals 3x analog IN 2x analog OUT 2x analog IN DSUB25 Female 4 194304 MHz E 4x digital OUT diff 2 Incremental Encoder Electrical Isolation Inputs Feedback 1 1 1 CPU 68376 PLD EPF10K10 2 x 3 Incremental Electrical Isolation Encoder Inputs X424 DSUB25 Male Digital VO Ports 16x digital OUT gt Error MCD1 5 12 G1F 3 81 16x digital IN X400 X410 MCD1 5 9 G1F 3 81 4 pole SMD Male Connectior Row Female Connector Row P100 Electrical Isolation H a PO 16x IN CAN Interface gt KO Data and Control Bus DSUB9 Male N BDM Interface P101 10 pole DSUB9 Female CAN Control CPU Hardware Manual Rev 1 3 3
7. earth via case by a soldering bridge at the PCB Shield D xD i 9 pole DSUB female 28 CAN Control CPU Hardware Manual Rev 1 3 Connector Pin Assignment 3 1 5 RS 422 Connector X414 9 pole DSUB Male The reference for the data direction definition is the CAN Control CPU module The reference for the signal name definition is the PC terminal DTE RTS output 9 pole DSUB connector CAN Control CPU Hardware Manual Rev 1 3 29 Signal Description LD_ENx LD_ENx LD Aqy LD Aqv LD Aiy LD_Aiy Shunt_Ail Shunt Ail LD GND FBz FBz 30 Connector Pin Assignment LD ENI LD ENZ2 LD EN3 LD ENA 25 pole DSUB female digital differential outputs x 1 2 3 4 analog output signals y 0 1 analog input signals y 0 1 bridges for shunt activation reference GND of the two analog inputs digital inputs z 1 2 CAN Control CPU Hardware Manual Rev 1 3 Connector Pin Assignment 3 1 7 Incremental Encoder Interface at X424 25 pole DSUB Connector 25 pole DSUB comnector Signal Description S00 S00 home signal of axle 1 S01 S01 encoder input A of axle 1 S02 S02 encoder input B of axle S10 S10 home signal of axle 2 S11 S11 encoder input A of axle 2 S12 S12 encoder input B of axle 2 LD ENIx LD ENIx4 digital differential outputs x 1 2 3 4 only if solder bridges are closed FB1z FB
8. 1z digital inputs z 1 2 only if solder bridges are closed CAN Control CPU Hardware Manual Rev 1 3 31 Connector Pin Assignment 3 1 8 External Interface at X434 and X444 MCD 1 5 14 G1F 3 81 X444 A lij zjsjalsisjzisje 10 11 12 13 14 row X434 in Pr 2 3 s 6 7 8 9 10 1 1 1 14 MCD 1 5 14 G1F 3 81 17 Pin numbers used in schematic diagrams 2 Pin numbers used for labeling plug in connectors lower ro 3 1 9 External Interface at X44 and X54 MCD 1 5 12 G1F 3 81 X54 Bilepelerre mapep ANI 1 1 ANI AN2 2 2 AN2 AN3 3 3 AN3 X44 upper a MCD 1 5 12 G1F 3 81 1 Pin numbers used in schematic diagrams 2 Pin numbers used for labeling plug in connectors Signal Description GATExV GATEOV digital gate input with reference signal x 5V 15V 24V PULSEyV PULSEOV digital pulse input with reference signal y 5V 15V EXTANOUTz EXTANOUTz analog outputs z 1 2 10 1Vz GNDz reference voltage and reference GND for analog outputs EXTANut EXTANu analog input u 1 2 9 Shuntu Shuntu if these contacts are shorted the shunt is activated 32 CAN Control CPU Hardware Manual Rev 1 3 Connector Pin Assignment 3 1 10 Digital Outputs at X420 and X430 MCD 1 5 12 G1F 3 81 The connector is equipped with two screwing blocks each for one output group X430 ACI O E CIO O CO O CO A buz een 08 09 Jor Jon oon Joss 22 fors or ai
9. 2 Circuit of the PULSE input CAN Control CPU Hardware Manual Rev 1 3 Digital Inputs PY 19 PI Digital Outputs 2 4 Digital Outputs l O connector X420 X430 Global_Enable Reset Summ Err1 16 GND Fig 2 4 1 Circuit of the digital outputs Circuit parameters Protection diode Da Uz SM6T33A 33 V max 50 V 20 CAN Control CPU Hardware Manual Rev 1 3 2 5 Analog Inputs I O connector Inx External Shunt Bridge Fig 2 5 1 Circuit of the analog inputs Signal Names Inx EXTANx LD Aiy Inx EXTANx LD Aiy x 1 2 8 y 1 2 Circuit parameters Ra 500 Q 0 1 Rb Re 1 0 kQ 0 1 Cc 1 nF Db BAR43S tAVCC 15 V AVCC 12V CAN Control CPU Hardware Manual Rev 1 3 Analog Inputs PY to A D converter 21 PI Analog Outputs 2 6 Analog Outputs fromD Aconverter I O connector Outx N SM4T15A Fig 2 6 1 Circuit of the analog outputs Signal Names Outx EXTANOUTx LD _Aqy Outx EXTANOUTx LD_Aqy x 1 2 y 0 1 Circuit parameters Amplifier V 1 Ra 10kQ 1 Re 10kQ 1 Ca 100 pF Cc 100 pF tAVCC 15 V AVCC 12V 22 CAN Control CPU Hardware Manual Rev 1 3 Analog Outputs y y 2 7 Reference Voltage Outputs TLE2064 l O connector 10 1Vx JN SM4T15A Fig 2 7 1 Circuit of the reference voltage outputs Signal Names x 1 2 Circuit parameters Ra 10kQ Rb 1 MQ Re 10kQ Cc 1nF tAVCC
10. CAN Control CPU Hardware Manual CAN Control CPU Hardware Manual Rev 1 3 Manual File M texte Doku MANUALS CAN LasCon CPU LCCPU13H en9 Date of Print 28 04 2003 Described PCB Version CAN Control CPU Rev 1 3 Changes in the Chapters The changes in the user s manual listed below affect changes in the hardware as well as changes in the description of the facts only Chapter Changes with respect to previous revision Connector names have been changed according to front panel text Pin numbers of plug in connectors added Digital input thresholds corrected Further technical changes are subject to change without notice New A D converter AD7856 14 bits resolution introduced CAN Control CPU Hardware Manual Rev 1 3 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder
11. Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info Wesd electronics com Internet www esd electronics com USA Canada esd PMB 292 20423 State Road 7 F6 Boca Raton Florida 33498 6797 USA Phone 1 800 732 8006 Fax 1 800 732 8093 E mail sales Wesd electronics com CAN Control CPU Hardware Manual Rev 1 3 Content Page 1 Technical Data aces eae de a Y a IA A LAA o RIA el g a 3 Bloc Did Grains ii DE AS E A EA A VAA AASE we 3 1 2 Summary of the Tecmo ad a ak Le 4 1 2 1 General Technical Data A A ea Tr 4 1 2 2 Microprocessor Circuits sa ti A ta 5 ai A Se a Ai ta serk Shes g ika Ma i E 5 1 2 4 CAN Controller Circuits o a i Seg Fa Meda He Pa Bowe Fada eden 3 6 12 5 DigitalInp ts 10 IIS ord pean cae Paw ERAS A 6 L226 GATE and PULSE PU spa es ud aaa DEORE RASS Mae GRASS 7 127 Digital Outputs rd a a eae wd 8 1 2 8 Differential Digital Outputs ds 9 EZIAN STUTS A II NN 10 1 210 Analog Outputs sida ts dr 11 1 2 11 Incremental Encoder Interfaces 0 coco mk ae no os Hae HOA eS oe 12 Love LER Displdy a DITA ake ates eee bia AENA eee 13 iS Order Information ee io ia Gate ein the 15 2 Description of the Units 200 EA ASA A A A A 17 2 PCB A E 17 22 Digital Inputs TOS AS AAA AA A AT DA a 18 2 3 GATE and PUESELDDDES DS AA A A E A ee 19 24 Digita OPUS vota ais ds ib 20 2S PUA o puts oa alae EN Pad a eae 21 2 0 Analog QU BIES ei ci i eh a A Od ra a RIA A eed 22
12. and one index input Number 2 feedback inputs 8 digital inputs Input Parameter one 2 wire connection via optocoupler electrically isolated py i the following Schmitt trigger is inverting the input signal TA the input circuit is electrically isolated from the microcontroller and Electrical isolation B the other I O circuits by optocouplers Table 1 2 11 Specification of the encoder interfaces 12 CAN Control CPU Hardware Manual Rev 1 3 1 2 12 LED Display Table 1 2 12 LED display CAN Control CPU Hardware Manual Rev 1 3 Overview 13 14 This page is intentionally left blank CAN Control CPU Hardware Manual Rev 1 3 Order Information 1 3 Order Information CPU 68376 512 kbyte Flash 256 kbyte CAN Control CPU FAST RAM 1 Mbyte SRAM C 2070 01 4 kbit EEPROM 128 kbyte NVRAM RTC CAN Control CPU RTOS UH RTOS UH runtime licence C 2070 10 CAN Control CPU ME English users manual C 2070 21 If ordered together with the module the manual will be delivered free of charge Table 1 3 1 Order information CAN Control CPU Hardware Manual Rev 1 3 15 16 This page is intentionally left blank CAN Control CPU Hardware Manual Rev 1 3 2 Description of the Units 2 1 PCB View CAN Control CPU Hardware Manual Rev 1 3 0083 Iau 0 oes useszimi LeD480 RN200
13. crocontroller and Electrical isolation id the other I O circuits by optocouplers Table 1 2 7 Output specification 8 CAN Control CPU Hardware Manual Rev 1 3 Overview 1 2 8 Differential Digital Outputs Driver circuit RS 422 driver Power supply local 5 V Table 1 2 8 Specification of the digital outputs CAN Control CPU Hardware Manual Rev 1 3 9 Overview 1 2 9 Analog Inputs Voltage Reference REF 195 Error Initial Error 1 adjustment lt 0 1 Adjustment by trimming resistor Internal A D Converter Of Controller 68376 No of channels 3 channels used 0 10 V Measuring range via Shunt can be activated by a wire bridge at the connector plug 0 20 mA over voltage protection 500 V static A D Converter AD7856 0 10 V Measuring range via Shunt can be activated by a wire bridge at the connector plug 0 20 mA adjustment can be done in the A D converter by software instrumentation amplifier INA117 over voltage protection 500 V static Electrical isolation Table 1 2 9 Specification of analog inputs Input amplifier 10 CAN Control CPU Hardware Manual Rev 1 3 Overview 1 2 10 Analog Outputs offset error 4LSB Error gain error LSB initial error of the voltage reference MAX6160 Table 1 2 10 Specification of analog outputs CAN Control CPU Hardware Manual Rev 1 3 11 Overview 1 2 11 Incremental Encoder Interfaces 2 each with two encoder inputs
14. es Geng ocaso 9 aa 1097 tosn mz 92697 E E ZE a ta exo NICK Izzo esol HICH Peg ozsa zea z191 zosn 92697 aaa a a e SH 5 20019 ll oq ud Sead ER Sead Seay Tq Sea m E Fa Cso Cso HE ce ea 3 09 f KE Li HU resi dem res emi Crcas cos Al EE En Cores em ens U E eos prsg usd rise Esg 2558 tise 0158 ress Cress Cos Caz Cso CSD sancuuey dasb pss Digital Inputs PY Digital Inputs 2 2 Digital Inputs 10 115 I O connector optocoupler Fig 2 2 1 Circuit of digital inputs example channel 0 7 The capacitor Ca can be equipped as an option Circuit parameters Ra 2 2 KQ Rb 1 0kQ Re 4 7 kQ Ca 100 nF Da ZMM11 Db LL4148 Optocoupler TLP181 18 CAN Control CPU Hardware Manual Rev 1 3 2 3 GATE and PULSE Inputs I O connector GATE24V Circuit parameters Ra 1kQ Rb 680 Q Re 270 Q Rd 680 Q Re 1kQ Dd LL4148 Cd 220 nF Ua HCPL0631 I O connector PULSE15 PULSESV PULSEOV Circuit parameters Rb 680 Q Re 270 Q Rd 680 Q Re 1kQ Dd LL4148 Cd 22 nF Ua HCPLO631 Ua Optocoupler Fig 2 3 1 Circuit of the GATE input Ua Optocoupler Fig 2 3
15. ize 256 kbyte optional 1 Mbyte data bus wide 16 bit Seer circuits 2x 128 k x 8 bit 2x 512 k x 8 bit access time 25 ns 70 ns memory size 256 kbyte optional 1 Mbyte data bus wide 16 bit SRAM circuit organisation 2x 128k x 8 bit 2x 512 k x 8 bit access time 25 ns 70 ns memory size 128 kbyte optional 512 kbyte data bus wide 8 bit circuit type DS1646LP or DS1647LP circuit case PLCC68 Serial EEPROM memory size 4 kbit optional 16 kbit Table 1 2 2 Technical data of the microcontroller circuits NV RAM RTC 1 2 3 Serial Interfaces RS 232 Interface 1 one eee bit rate max 38 4 kbit s connector DSUB9 female RS 422 driver with 2 outputs and 2 inputs ieee bit rate is limited by the controller connector DSUB9 male Table 1 2 3 Technical data of the serial interfaces CAN Control CPU Hardware Manual Rev 1 3 5 il ii 1 2 4 CAN Controller Circuits CAN Interface physical layer according to ISO 11898 Transmission rate selectable via jumpers or programmable up to 1 Mbit s CAN Identifier programmable Controller 68376 internal is interface is electrically isolated from the controller and the other I O Raper cng circuits by optocouplers and DC DC converters Table 1 2 4 Technical data of the CAN and controller circuits 1 2 5 Digital Inputs 10 115 Number 1e in groups with 8 inputs each input voltage range max permissible 30 V lt Un lt 33 V switching thre
16. s ets X420 METEO ERIN EN EN EEN E EA 24V GND 24V GND cos ot ce om feos fats os J 05 os o forr MCD 1 5 12 G1F 3 81 1 Pin numbers used in schematic diagrams 2 Pin numbers used for labeling plug in connectors upper i lower row All GND signals of the digital outputs are shorted at the PCB One circuit is supplied by one 24V supply pin CAN Control CPU Hardware Manual Rev 1 3 33 Connector Pin Assignment X410 X400 MOD 1 5 9 G1F 3 81 17 Pin numbers used in schematic diagrams 27 Pin numbers used for labeling plug in connectors 34 CAN Control CPU Hardware Manual Rev 1 3 3 2 Front Panel X10 Power Connector X24 CAN LED Display Coding Switch X414 RS 422 X424 Incremental Encoder Interface X44 X54 External Interface AN1 AN3 GATE PULSE X434 X444 External Interface AN4 AN9 X420 X430 Digital Outputs Q0 Q15 X400 X410 Digital Inputs 10 115 Xx ES A D D e N Y CAN Control CPU Hardware Manual Rev 1 3 Front Panel Sy X14 CAN X404 RS 232 X34 Laser Interface 35 36 This page is intentionally left blank CAN Control CPU Hardware Manual Rev 1 3 3 3 Circuit Diagrams CAN Control CPU Hardware Manual Rev 1 3 Circuit Diagrams 37 38 This page is intentionally left blank CAN Control CPU Hardware Manual Rev 1 3
17. shold input 0 Un lt 14 V switching threshold input 1 Un gt 18 V Input voltages input 1 Ion approx 10 mA typical at 30 V G electrical isolation by optocouplers Pio ipal selanon each 8 inputs use one common GND Table 1 2 5 Input specification 10 115 6 CAN Control CPU Hardware Manual Rev 1 3 Overview 1 2 6 GATE and PULSE Input nominal values GATE 5 V 15 V 24 V nominal values PULSE 5V 15V switching threshold input 1 and maximum input voltage loput tolase SV Unsay Ungesv 15V Um gt 8VW Uuyax 18V 24 V Uw 2 18V Umaz 30V The optocoupler circuit is followed by a Schmitt trigger circuit Input current input 1 Ion thd the input circuit is electrically isolated from the microcontroller and the other I O circuits by optocouplers Electrical isolation Table 1 2 6 Input specification of the GATE and PULSE input CAN Control CPU Hardware Manual Rev 1 3 7 Overview 1 2 7 Digital Outputs Number A g in groups with 4 outputs each Driver 16976 4 outputs circuit Supply velas maximum voltage rating Uy 9 5 VDC 35 VDC current channel 24 V 0 65A 12 A 50 C oi short circuit protection overload thermal tud mecipss message in case of error low supply voltage Uwe lt 5V over current over temperature Uyoc 24 V R 47 Q Timing rising edge 3 V 7 V Us falling edge 4V 10 V Us ka Ad the input circuit is electrically isolated from the mi
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