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Epec 2024 Control Module

1. QX0 11 DO QX0 6 QW122 DO PWM 12 QX0 7 QW123 DO PWM max total 200mA FI 5V gt GND 5 GND 1 6 IW106 1X3 7 IW107 1X3 8 IW108 IX3 8 7 IW109 gt 5V max total GND HH 250mA GND 1X3 10 71W110 IX3 117IW111 BSL IW15271X22 PI7 DI IW15171X2 1 IW15571X2 5 PI DI Iwt5471x24 PI DI Iw153 1x2 3 PI DI 157 1X2 7 PI DI 1W156 1X2 6 IW15071X2 0 Supply 24 V GND CAN1 H CAN GND 24V CAN1L CAN2H CAN2L GND 24 ANALOG INPUT DIGITAL OUTPUT NOTE All addresses expressed as Word addresses DI DIGITAL INPUT PWM PULSE WIDTH MODULATIVE OUTPUT PI PULSE INPUT FB FEEDBACK 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 Sein joki
2. 9 i s 9 lt 136 00 mm gt ieee M 46 00 mm 35 00 mm Scale 1 2 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 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family 7 c 2024 CONTROL MODULE 2024608 618 MAN000185 8 ADDITIONAL DOCUMENTS For more information on Epec control system products assembly and programming please refer to the following documents Document ID Document name Document description General mounting and cabling instructions for Epec modules Programming instructions for CoDeSys 2 3 environment Note 1 Programming instructions for CoDeSys 2 1 environment Instructions for programmers using Hardware Library Instructions for programmers using CANopen Library MAN000101 Mounting Instructions MAN000276 CoDeSys 2 3 MAN000275 CoDeSys 2 1 MAN000280 Hardware Library manual MAN000285 CANopen Library manual Note 1 CoDeSys 2 3 documentation is supplied within target files for example library files and manuals 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 60
3. EPEC Epec 2024 Control Module Technical Document Epec Oy EPEC Epec CAN Module Family E n c 2024 CONTROL MODULE 2024G08 G18 MAN000185 DOCUMENT VERSION HISTORY Date Notes 07 10 2010 Updated sections 2 1 2 Codesys 2 3 6 1 Protection and 7 1 Mounting Sections 3 8 Specification for Internal Diagnostics 3 9 Closed Loops 02 12 2009 Wiring 3 10 Map 4 2 Power Consumption and 4 3 Power Supply Pins updated 01 10 2008 Document and layout updated 16 08 2006 First released version 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family PS 2024 CONTROL MODULE 2024G08 G18 MAN000185 TABLE OF CONTENTS GENERAL CEPI 4 Tat Purpose of 2 4 1 25 AboutMan factuler 5 3 eee 4 1 3 Epec CAN Module Family sessi siens nnns nnns 4 1 4 BASIC SKINS Hequired uiid cain od e ra ete RF eas 4 15 Safety G ldelln6s nie dad einsdem rap eredi e eruere 4 LO Warranty p i n e NT E E cenit Geass 5 1 7 Limied Liabilily po 6 1 8 Environmental Statement sisse sies einen rnnt ennt nnn 6
4. MHz Modulation AM80 1 kHz Sweep step 1 20 800 30 V m time step 3s PM 577 4600us 800 2000 30 V m EN 61000 6 3 2001 Electromagnetic compatibility generic emission standard part6 3 residential commercial and light industry Radiated disturbance emission test e Test method EN 55022 1994 Note The Color display 2040 needs extra 1777 Frequency Limit value facilities in order to have the limit B Limit MHz dBuV m covered A 30 1000 40 47 QP B 30 1000 30 37 QP FIN 60320 Sein joki Conducted disturbance at main ports emission test EN 61000 6 2 2005 Test method EN 55022 1994 Frequency M MHz Limit value dBuV 0 15 30 66 56 60 QP 0 15 30 56 46 50 AVE Electromagnetic compatibility generic immunity standard part6 2 industrial environment Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address PL P O Box 194 FIN 60101 Sein joki Finland Puhelin Phone 358 0 20 7608 111 Internet www epec fi Fax 358 0 20 7608 110 EPEC Epec CAN Module Family Circ 2024 CONTROL MODULE 2024G08 G18 MAN000185 29 34 07 10 2010 Conducted radio frequency common mode immunity test e Test method EN 61000 4 6 1996 e Performance criterion A Specification Port Test level Frequency range 0 150 80 MHz DG input 40 Modulation 80 1 kHz Sweep step 196 Sig
5. The following environmental tests have been performed to Epec 4G modules Temperature Duration Test Temperature Exposure Remarks time Cold IEC 60068 2 1 45 16h Test Ab Dry heat IEC 60068 2 2 70 C 16h Test Bb Damp heat cycling er IEC 60068 2 30 425 55 E Test Db e six test cycles Change of temperature Une Dewees IEC 60068 2 14 50 C 60 C 3h Test Na e 5 test cycles Change of temperature e change of temperature 10 IEC 60068 2 14 40 C 70 C 3h C min Test Nb e 2 test cycles Mechanical resistance Duration and Test direction Remark e pulse duration 6 Shock Bump test IEC ms e half sine pulse shape 60068 2 27 and 29 e 500 impulses in peak acceleration 500 m s Tests Ea and Eb every six directions Vibration random e test duration 60 e ASD level 0 5 2 5 10 200 Hz IEC 60068 2 64 ASD level 1 0 m s 200 500 Hz Test Fh direction e total spectral acceleration 3 54 grms Free fall PUE IEC 60068 2 32 e fall height 100 cm on each surface Test Ed and corner Corrosion Test Temperature Duration Concentration Salt spray test o ISO 9227 35 24h 50 g l NaCl Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 FIN 60101 Sein joki Finland 358 0 20 7608 110 wwweepec
6. 62 52 63 enne Broadband QP 52 42 53 30 1000 Narrowband AVE Conducted disturbances emission test e Test method 2005 83 EC ANNEX X Port Limit level V 150 24 V DC input 250 Immunity to transient disturbances e Test method 2005 83 EC ANNEX X conducted along supply lines test e Performance criterion Note The Mini module 2038 and the Mini Pulse Criterion display 2029 need the Hub module 2021 1 in order to have the full transient immunity 2a 2b 3a 3b 4 Pulse Pulse parameters 1 3 2000 us 600 V 1000 pulses 2a 1 50 us 100 V 1000 pulses 2b 20 V 220 ms 2 pulses 3a 5 100 ns 200V 60minutes 3b 5 100 ns 150 V 60minutes 4 100 ms 20 5 8 0 V 20s 16 5 12 0 V 2 pulses 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family Cir c 2024 CONTROL MODULE 28 34 07 10 2010 2024608 618 MAN000185 Radiated radio frequency electromagnetic field immunity test Test method 2005 83 EC ANNEX IX Performance criterion No degradation of Immunity related functions Frequency Specification Range
7. 2024 CONTROL MODULE 2024G08 G18 00185 07 10 2010 4 POWER SUPPLY e Nominal supply voltage 24 VDC e Operating range 10 30 VDC e No saving operations program flashing or parameter storing into permanent memory can be done under 11 5 VDC e Undervoltage reset lt 9 5 VDC 4 1 Overvoltage Protection e Max 70 VDC Stresses above this value may cause permanent damage to the module e Module has a shutdown circuit which protects the module and loads against overvoltage The shutdown circuit cuts off the power feed for the logic and loads in case of overvoltage The shutdown circuit is activated when voltage reaches circa 32 V Power feed is restored Epec Oy Tiedekatu 6 FIN 60320 Sein joki when supply voltage drops to 30 V 4 2 Power Consumption e Approx 1 8 W 24 VDC no external load e Supply Voltage Vsuep y maximum continuous current 13 A with full external load e GND current sum max 13 4 3 Power Supply Pins 2 Connector Designation pin number Potential Supply voltage X4 4 24 VDC 10 30 VDC X4 5 Ground for supply voltage X4 1 GND X4 3 Optional back up supply voltage X2 11 24 VDC for CPU Auxiliary supply for external devices X1 13 Vsuppty max 3 A Internally regulated and monitored X3 1 12 VDC max 200 mA auxiliary supply for external devices X3 9 max total for all pins together Internally regulated and monitored X3 2 5 VDC max 250 mA au
8. 6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement or counting Note 7 Applies to inputs used as normal digital inputs Violating this rating may lead to application program not noticing all input state transitions 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family Circ 2024 CONTROL MODULE 2024G08 G18 MAN000185 21 34 07 10 2010 3 8 Specification for Internal Diagnostics This module s internal temperature and incoming operating voltage can be read from the IEC addresses with the numerical values and resolutions shown in the following table IEC Precision E lt 5 0 lt 5 0 lt 5 0 lt 5 0 3 9 Closed Loops Wiring Resolution Full 10 10 10 10 5V TEMP IW115 5177 81 3 It is strongly recommended to use closed loops for connecting all sensors actuators etc devices to I O modules Closed loops wiring can be achieved by connecting the GND wire from the sensor actuator etc device into the GND pin of module connector If it is not possible to use closed loops use DI PI pins or pins instead Epec Oy reserves all rights for improvements without prior notice Postiosoite
9. FIN 60101 Sein joki Finland EPEC Epec CAN Module Family a 2024 CONTROL MODULE 2024G08 G18 MAN000185 3 11 AMPSEAL Connectors Epec uses gold plated locked and sealed AMPSEAL heavy duty connectors for all Epec CAN Module Family products to ensure the endurance of extreme conditions e 8 pin AMPSEAL for power and system CAN connections e 3x23 pin AMPSEAL for I O e All connectors are mechanically keyed to mate only with identical colors AMPSEAL connectors Epec ordering code AMP 23 pin grey plug female KX0007 AMP 23 pin black plug female KX0008 AMP 23 pin blue plug female KX0009 AMP 8 pin black plug female KX0187 3 12 AMPSEAL Cable Dimensions Size Insulation Strip length 0 4 mm AWG diameter range 0 5 20 1 7 5 1 0 8 18 to 5 1 1 4 16 2 7 5 1 eru 58529 1 Typical hand crimping tool e g Epec ordering code TT0018 e All applied cables should be properly shielded bundled and grounded e See the General Mounting and Cabling Instructions for Epec Modules for more detailed information about the cabling 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 Sein joki FIN 60101 Sein joki Finland 24 34 EPEC Epec CAN Module Family Cir
10. MODULE GENERAL 7 2 1 Programming Environment a eee nennen enn nnne 7 21 1 CODCSYS 2 T ido amem das ie tees 8 2 1 2 GOdesys 2 9 dirai itp adden ae eem 8 22 CANopen Indexes iei eer dob en due e a e fru 8 INPUT OUTPUT 9 Configurable VOS er p 9 to ertt f em red 10 3 3 Current Measuring Feedback sisse sienten ennt 11 3 4 Digital Input PWM Output Digital Output sse 12 3 5 Digital Input Analog 15 3 6 Digital Input Digital Output sinking esses 17 3 7 Digital Inp t Pulse Input ie tede ntes 19 3 8 Specification for Internal Diagnostics essen 21 3 9 Closed Loops Wiring sessi nina 21 9 410 JO TEC Map editada anthesin ea erai se ola 22 3 11 AMPSEAE GORn6ClOrS uiia Hae d E iet ren dos Fh se HP M ras nese 23 3 12 AMPSEAL Cable Dimensions sessi siis einen einen 23 POWER SUPPLY reed ende i ss las oe sea aa 24 4 Overvoltage Protection s yes Soden sri eee ge ee te 24 42 Power CONS
11. With input voltages below 4 3 V it seems like the internal input resistance was connected to a 1 3 V voltage source Note 2 denotes software cycle time Note 3 Violating this rating may lead to system not recognizing all input state transitions 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 Connection Principle pA 24 12 Module pce Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family ES c 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec Oy Tiedekatu 6 3 3 Current Measuring Feedback Pins X1 5 X1 6 X2 3 and X2 4 are normally used as a return path for the loads of PWM outputs These kinds of pins have a small shunt resistor connected to ground The shunt resistor is used to measure the current flowing through the load Nothing prevents using these pins to measure currents from other sources as well In PLCopen programming environment there is a word variable in IW area associated with each pin from where the software can read the actual current flowing into the pin Electrical Characteristics Symbol Param
12. product is not field serviceable so it should not be opened at any situation An external fuse 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 6 Warranty The manufacturer does not assume any responsibility for the products being fit for any particular purpose unless otherwise expressly stated in writing by the manufacturer The manufacturer gives the warranty of twelve 12 months to the products and thereto related firmware from commissioning or eighteen 18 months from the date of delivery of the products which ever occurs first The manufacturer is during the warranty period responsible for defects in the products and thereto related firmware resulting from faults in material design or workmanship The manufacturer s only obligation under this warranty is to at its sole discretion either to replace the products and or thereto related firmware or to repair the defective products The manufacturer shall at its sole option repair the products at its manufactory in Sein joki 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 possi
13. 320 Sein joki FIN 60101 Sein joki Finland
14. 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family m c 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec Oy Tiedekatu 6 Electrical Characteristics Input Voltage Analog measuring range Current Analog measuring range IH Note 1 Input High Voltage Note 2 V Input Low Voltage L OTTO OM en Input High Current Note 2 9 0 27 Total nput Referred V Error Tea mr Time Constant of Input Connection Principle High Impedance Voltage Input Note 1 Input Configured for Voltage Measurement 220 Input Resistor Disconnected Note 2 Input Configured for Current Measurement 220 Input Resistor Connected Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family A ATO c 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec Oy Tiedekatu 6 3 6 Digital Input Digital Output sinking Pins X1 18 X1 21 X2 18 and X2 21 are current sinking outputs In other words pins connect the load to the ground The application program can also simultaneously monitor the actual state of the pin This feature makes it possible to detect open loads a
15. CAN Module Family P m c 2024 CONTROL MODULE 2024G08 G18 MAN000185 2 MODULE GENERAL DESCRIPTION Epec Oy Tiedekatu 6 Module is part of the Epec CAN Module Family Module has large amount of digital and analog inputs and digital outputs Digital outputs can be configured to be used as digital inputs and vice versa Module is used in a CAN control module system as a multifunction controller with different kinds of sensors and actuators such as proportional valves servo motors and electro hydraulic components This PLCopen programmable with CoDeSys tool module can also be used as an independent controller because of digital and analog I O capabilities Module has two CAN busses Features Applications e ISO High Speed interface e Forest Machines e SOHigh Speed CAN2 interface e Road Maintenance e Operating voltage 10 30 VDC e Construction Machines e Recommended operating voltage 24 VDC e Crushing Stations e Overvoltage protection e Industrial Machines e Overheating and short circuit protection for e Agricultural applications outputs e Automation applications e Short circuit protection for outputs e Mining Machines e Gold plated locked and sealed connectors 8 pin AMPSEAL for module connection 3 x 23 pin AMPSEAL for I O e Small outline dimensions 147 x 113 x 46 e Weight 0 7 kg Monitoring Functions Following issues can be monitored by the application e Supply voltage e Firmware app
16. EPEC Epec CAN Module Family T oar c 2024 CONTROL MODULE 2024608 618 MAN000185 CLASSIFICATION OF PERFORMANCE CRITERION A All functions of a device system perform as designed during and after exposure to disturbance 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 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 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 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 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 Sein joki FIN 60101 Sein joki Finland FIN 60320 Sein joki 6 3 Environmental Tests EPEC Epec CAN Module Family Cir c 2024 CONTROL MODULE 31 34 07 10 2010 2024G08 G18 MAN000185
17. Postal address PL P O Box 194 FIN 60101 Sein joki Finland Epec Oy Tiedekatu 6 FIN 60320 Sein joki Puhelin Phone 358 0 20 7608 111 Internet www epec fi Fax 358 0 20 7608 110 22 34 07 10 2010 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec CAN Module Family 3 10 IEC Map OUTPUT QX1 4 QW104 DO PWM XM1 1 QX1 5 QW105 DO PWM XM1 2 QX1 7 QW107 DO PWM XM1 3 QX1 6 QW106 DO PWM XM1 4 QXO0 0 QW116 DO PWM QXO0 1 QW117 DO PWM GND GND GND 1 4 IW104 24V 1 0 3 QX0 3 QW119 DO PWM 1 0 2 2 QW118 DO PWM 1 1 3 QX1 3 QW103 DO PWM 1 1 2 QX1 2 QW102 DO PWM 1X0 12 QX0 8 DO 1X0 8 1X0 9 1X0 13 QX0 9 DO 1 1 1 QX1 1 QW101 DO PWM 1 1 0 QX1 0 QW100 DO PWM 1 1 13 Qx1 13 QW109 DO PWM 1 1 12 QX1 12 QW108 DO PWM 1W102 1W103 1 1 11 QX1 11 QW115 PWM 1 1 10 1 10 QW114 PWM 1 1 9 QX1 9 QW113 PWM 1 1 8 QX1 8 QW112 PWM 1 1 14 424V Qx1 14 QW110 DO PWM IX1 15 Power supply Qx1 15 QW111 DO PWM 24V for logic IX3 5 IW105 GND GND GND QX0 5 QW121 DO PWM QX0 4 QW120 DO PWM Qx0 10 DO
18. UMPTION 24 4 3 Power S pply Pins ir rete dg ad ea eue ad 24 BUS CONNECTION 25 5 7 Bus Gonnection Pins os toe D Pe Pap tees 25 5 2 CAN Anterface titia cepas e m hebetes 25 ENVIRONMENTAL 26 6 1 Protection sse utente do deae 26 6 2 T6818 26 6 3 Environmental Tests etd deese 31 HOUSING 32 4 teo Sio p neon 32 72 UntDimoensions s inei E niei mb eo nat nni 33 ADDITIONAL 34 Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet FIN 60320 Sein joki PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60101 Sein joki Finland EPEC Epec CAN Module Family c 2024 CONTROL MODULE 2024G08 G18 MAN000185 GENERAL Epec Oy Tiedekatu 6 1 1 Purpose of This Document This technical document is meant to be used in system development This document contains necessary data concerning the module in question which system designer needs in system development work Copying of this document without permission is prohibited All trademarks mentioned in th
19. X2 10 B 12 2 8 C 13 X2 7 D 14 2 6 15 2 5 16 1 7 17 X1 8 18 X1 15 19 X1 14 20 X2 17 21 X2 16 22 X2 22 23 X2 23 Electrical Characteristics Symbol Ma Output Resistance Output On 0 2 Q 3 A x fewM PWM Frequency Note 1 2550 Hz A Hz Group A and F Note 1 5 MHz fpwm Group B C D and E Note 1 ENE PWM Resolution Group A and F fewm 100 Hz Note 1 20000 EE Va Hz Re lo Output Current OuputOn Group B C D and E fpwm 100 Hz Note 1 nput Resistance Output Off 2 8 3 0 6250 7 5 KO Vin V 1 V Hz Vin Input High Voltage _ Low Voltage Output Off 1 8tc 0 tc 10 ms Note 2 3 4 Input frequency Variable Note 2 4 tc 10 ms Note 2 3 4 4 Input Pulse Width fY arable te Note 2 4 dic HE 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family BS 2024 CONTROL MODULE 2024G08 G18 MAN000185 Connection Principle A pin where the lower wire of the load is connected is current measuring feedback This illustrates the normal way to connect loads when load current measurement is desired Connection Principl
20. ble 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 Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family olus 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec Oy Tiedekatu 6 1 7 Limited Liability The manufacturer shall under no circumstances be liable for loss of production loss of profit loss of use or any other consequential dama
21. capable to generate pulse width modulated PWM output signals This feature is useful when driving proportionally controlled loads e g proportional hydraulic valves Monitoring the state of the pin is generally not possible when the pin is used as a PWM signal output PWM frequencies can be configured under software control in groups of outputs The frequency is set by HW SET PWM FREQ function call The setting is done a PWM channel but setting the frequency of one channel sets also the frequencies of all the other channels in the same groups In very carefully selected applications a pin of this type can also be used as an input by using the output state monitoring feature In those cases the output functionality of the pin must of course be kept in off state It must be taken care in system design that the output unintentionally switching to on state causes no harm to the system Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family T 2 x cir 2024 CONTROL MODULE 2024G08 G18 MAN000185 PWM Frequency Control Groups PFCG Group Channel Output pin A 0 X1 23 1 X1 22 2 X1 17 3 X1 16 4 X1 1 5 X1 2 6 X1 4 7 X1 3 8 X2 2 9 X2 1 10 2 9 11
22. e when used as an input Note 1 PWM capable outputs are divided into six groups All outputs in the same group share the same PWM frequency default value 140 Hz Note 2 Violating this rating may lead to system not recognizing all input state transitions Note 3 These parameters depend on software cycle time Note 4 denotes software cycle time 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec Oy Tiedekatu 6 3 5 Digital Input Analog Input Pins X1 12 X2 12 X3 5 X3 8 X3 13 and X3 14 are analog inputs Some of the inputs are grouped X3 5 X3 6 and X3 7 is defined as group one and X3 13 and X3 14 is group two Both groups can be configured either as a current input or as a voltage input For example if group two is configured as a current input then both pins X3 13 and X3 14 can only be used as a current input Pins of this kind are used to measure analog signals They can be used as high impedance voltage inputs for signals from 0 to 5 volts or low impedance current inputs for signals from 0 to 22 7 milliamperes Pins of this kind can be used as e g joystick connection when 41 2 5 V voltage inpu
23. ermore there are pins which can be used as inputs or as outputs at the control of the application programmer 3 4 Configurable I Os DI Al DO PWM Max oV Current Digital Digital Pulse Width Amount pod nda Measuring je Output Output Modulation Feedback sourcing sinking Output 4 x 4 X 24 X X X 8 X X 4 X X 8 X X 52 48 12 8 28 24 The usage of each I O pin is determined by the application 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family 7 Pe Er 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec Oy Tiedekatu 6 3 2 Digital Input Pins X1 19 X1 20 X2 19 and X2 20 are ground referenced inputs DI Pins are associated with a bit variable in the X area in PLCopen programming environment The application program will see there a logical zero when the pin is grounded or left open and a logical one when the pin is connected to a positive voltage source Electrical Characteristics Greater than 4 3 V Note 1 1 Input Resistance Referenced to 1 3 V ViLess than 4 3 V Note 1 508566060 f Input Frequenc tc 10 ms Note 2 3 4 5 put Frequency Variable tc Note 2 3 5 gc e Note 1
24. eter Conditions Min Max Units R mutessane 0 029 o Input Current range Note 1 _ 17 A TIRE j TotalnputRefered Error 55 mA Note 1 Exceeding the max value might cause damage to input Connection Principle Module A pin where the upper wire of the load is connected is PWM output digital output This illustrates the normal way to connect loads when load current measurement is desired Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family T iode c 2024 CONTROL MODULE 2024G08 G18 MAN000185 Epec Oy Tiedekatu 6 3 4 Digital Input PWM Output Digital Output These pins are current sourcing outputs In other words pin connects the load to positive supply voltage The application program can also simultaneously monitor the actual state of the pin This feature makes it possible to detect short circuits to the ground Open loads can not be detected because the internal load resistor is connected to the ground Connector X1 Connector X2 X1 1 X2 1 X1 2 2 2 X1 3 2 5 X1 4 X2 6 X1 7 X2 7 X1 8 2 8 X1 14 X2 9 X1 15 X2 10 X1 16 X2 16 X1 17 X2 17 X1 22 2 22 X1 23 2 23 These kind of outputs are also
25. fi EPEC Epec CAN Module Family c 2024 CONTROL MODULE 2024608 618 MAN000185 T HOUSING Closed light cast aluminium housing e Powder painted hexavalent chromium free passivation for aluminium e Puncture hole fastening 7 1 Mounting e 2 pieces of M6 screws to DIN 912 e lfaseparate Epec module shock protection cover is mounted it is recommended to use Epec fastening bolts which are delivered with the cover e Mounting position horizontal or vertical to allow water etc flowing away from connectors Module Mounting Mounting position base base 2 Module ae 9 position 4 e See the General Mounting and Cabling Instructions for Epec Modules for more detailed information about the module mounting 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 Sein joki FIN 60101 Sein joki Finland Epec CAN Module Family T Av To 2024 CONTROL MODULE 2024G08 G18 MAN000185 7 2 Unit Dimensions re 147 00 mm gt XM1 XM2 6 20 mm E gt o o o o 3 uu HE 9 0 og 9 De 112 00 mm 4 XM4 XM3 10 00 E
26. ges 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 8 Environmental Statement The manufacturer uses 15014001 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 Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec
27. improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family m e 2024 CONTROL MODULE 2024G08 G18 MAN000185 Electrical Characteristics Symbol Parameter Conditions 1 Min Max Units V greater Pan a3 v Noen 99 t ko Input Resistance Referenced to 1 3 V Vui V less than 4 3 V Note 1 Input High Voltage o O Input Pulse Width EE ER Connection S ECE am Frequency Note 2 3 6 frequency Som of the frequencies of all the LE measurement and pins Note 2 3 6 pulse counting Input Frequency c 10 ms Note 3 4 5 7 normal inputs 50 40 4tc I 08 Note 1 With input voltages below 4 3 V it seems like the internal input resistance was connected to a 1 3 V voltage source Note 2 All conditions must be respected Even if some of the inputs were not used for frequency measurement or pulse counting these conditions must nevertheless be respected regarding those inputs too Otherwise operation of other inputs may be interfered Note 3 Violating this rating may lead to system not recognizing all input state transitions Note 4 These parameters depend on software cycle time Note 5 denotes software cycle time Note
28. inland EPEC Epec CAN Module Family m Rn 2024 CONTROL MODULE 2024G08 G18 MAN000185 Connection Principle when used as input Note 1 Violating this rating may lead to system not recognizing all input state transitions Note 2 These parameters depend on software cycle time Note 3 denotes software cycle time 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family 7 Bn 2024 CONTROL MODULE 2024G08 G18 MAN000185 3 7 Digital Input Pulse Input Epec Oy Tiedekatu 6 Pins X3 16 X3 23 are ground referenced inputs DI including pulse counting feature These pins have 10 resistor connected to GND The application program is provided with frequency and number of the pulses seen in the input in addition to the normal input state There are three variables associated with each pin of this type in IEC programming environment The first is a bit variable in IX area just in the same way as with the pins without the PI features The other two are word variables in the IW memory area which hold the frequency value and the number of pulses After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled explicitly by the a
29. is document are owned by their manufacturers 1 2 About Manufacturer Epec Oy helps its customers to manufacture efficient safe and environmental friendly mobile working machines and special vehicles which help their customers to maximise their productivity Epec is a solution provider specialized in embedded control systems vehicle computers and information logistics systems for mobile machines We believe that we know control systems for challenging conditions and we are able to offer a total solution from control units to project services and designing 1 3 Epec CAN Module Family Epec CAN Module Family is designed to operate in extreme environments where vibration wide temperature changes and moisture are normal conditions The requirements for the system s reliability and safety have been the key words in module family development A small and protective module casing keeps inside high performance microcontroller with lots of control capabilities 1 4 Basic Skills Required The user of this document must have professional skils on machine controlling CAN communication PLCopen programming according to IEC61131 1 and should have skills to use CoDeSys 2 1 2 3 programming environment Please refer CoDeSys 2 1 2 3 manual for further information on programming environment and required installations Please refer CAN and CANopen documentation from CAN in Automation CiA for further information on communication issues 1 5 Safety G
30. is CANopen compatible CAN2 is user programmable CANopen is not available for CAN2 CoDeSys 2 3 CAN1 and CAN2 are CANopen compatible and user programmable e For example CANopen SAE J1939 or ISOBUS are available for both CANs 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 Sein joki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family Cir 2024 CONTROL MODULE 2024G08 G18 00185 6 ENVIRONMENTAL CHARACTERS 26 34 07 10 2010 Epec CAN module family is designed for extreme environments and the product family is certified with normal automotive e17 EMC standards and has shock and vibration endurance up to 100 G e Operating temperature 40 C 70 C e Storage temperature 50 C 85 6 1 Protection e P67 classification according to IEC 60529 e Module is equipped with Oil Rating 7 according to test method AATCC 118 1997ASTM hydrophobic and oleophobic Gore HPM Membrane Vent e Protection for plugs depends on cable processing e All cables connectors and tools must be of correct type and sufficiently high quality Also the environmental suitability of equipment should be checked protection for moisture mechanical stability power durability coupling resistance among other things e Additional module cover f
31. lication code corruption e Module temperature Software deadlock is monitored by the hardware watchdog that reboots the module automatically after 300 ms software deadlock 21 Programming Environment This product can be programmed with either CoDeSys 2 1 or CoDeSys 2 3 depending on the module s firmware If the firmware s runtime is older than 2 1x the programming environment is CoDeSys 2 1 and if the runtime is 2 3 x or newer the programming environment is CoDeSys 2 3 The runtime version can be checked from index with a CANopen tool for example with CANmoon Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family c 2024 CONTROL MODULE 2024G08 G18 MAN000185 2 1 1 Codesys 2 1 Flash e 248 x 16 bit flash saved parameters Runtime older than 2 15 e 756 x 16 bit flash saved parameters Runtime 2 15 or newer CAN buses e Supported baud rates 20 50 100 125 250 500 and 1000 kbit s e CAN1 e CANopen e CAN2 e User programmable e J1939 Pulse inputs e Maximum pulse input frequency 20 kHz e Joint frequency for all pulse inputs e g four channel in use gt 5 kHz for each channel Minimum PWM frequency e 40 Hz for 20 MHz module 80 Hz for 40 MHz module 21 2 Codesys 2 3 Flash e 6200 bytes flash
32. nal time step 3s ports Radiated radio frequency electromagnetic e Test method EN 61000 4 3 field immunity test e Performance criterion A DNE Range Test Specification MHz level Frequency range 80 2700 MHz 80 1000 20 V m Modulation AM80 1 kHz Sweep step 1 time step 3s 1000 2700 3 V m Electrical fast transient EFT B immunity test e Test method EN 61000 4 4 1995 e Performance criterion B Test pulse Port Test level 5 Tr 50 Th ns DC input repetition port 20 frequency 5 kHz duration Signal 1 minute pots 29 kVp CFR 47 Part 15 Subpart B Class A and B Code of federal requlations cfr title 47 telecommunication part15 radio frequency devices subpart b unintentional radiators Class a intended for use in industrial commercial environments Class b intended for use in residential small office environments Radiated emissions Note The Color display 2040 needs extra facilities in order to have the class B covered Test method ANSI C63 4 and EN55022 Frequency Limit value Class MHz dBuV A 30 1000 40 47 QP B 30 1000 30 37 QP Epec Oy Tiedekatu 6 FIN 60320 Sein joki Postiosoite Postal address PL P O Box 194 FIN 60101 Seinajoki Finland Puhelin Phone 358 0 20 7608 111 Fax 358 0 20 7608 110 Epec Oy reserves all rights for improvements without prior notice Internet www epec fi
33. nd short circuits to the supply voltage In very carefully selected applications a pin of this type can also be used as an input by using the output state monitoring feature In those cases the output functionality of the pin must of course be kept in off state It must be taken care in system design that the output unintentionally switching to on state causes no harm to system There are two bit variables associated with each pin of this type in PLCopen programming environment The first is one of the QX output bits for controlling the pin as an output The second is one of the X input bits for monitoring the actual state of the output or reading the pin as an input Electrical Characteristics Symbol Parameter Conditions Min Max Units Re Output Resistance on L i Output Current OuptOn R Resistance Output o m Vi input High Voltage mpulowVotag os 10 12 10 ms Note 1 2 3 12 putirequeney Variable te Note 1 3 Ttc Input Pulse Width 5210 1 2 3 40 ms i Variable Note 1 3 4 Connection Principle Q A V V Hz S UDCNNERSENTEEIERERSEEESSUNEE Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki F
34. or wires and connectors is also available 6 2 EMC Tests Epec 4G modules are certified according to following tests ISO DIS 14982 1998 criteria Agricultural and forestry machines electromagnetic compatibility test methods and acceptance Electrostatic discharge ESD immunity test e Performance criterion B Test method EN61000 4 2 1995 Discharge mode Test level kVp Contact 2 4 6 Air 2 4 8 Transient and surges in vehicular e Test method ISO 7637 2 1990 pulse 5 environment immunity test e Performance criterion B Note The Mini module 2038 and the Mini Pulse Pulse parameters display 2029 need the Hub module 2021 5 in order to have the full transient immunity Us 70V tr 10ms td 600ms fitted to a vehicle Commission directive 72 245 EEC as last amended by commission directive 2006 28 EC Requirements to be met by vehicles and electrical electronic sub assemblies 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 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family a c 2024 CONTROL MODULE 2024608 618 MAN000185 Radiated disturbance emission test e Test method 2005 83 EC ANNEXES VII and VIII Frequency MHz Limit value dBuV m
35. pplication program The pulse counting competes with the application program and other processes for the CPU time This makes it rather hard to estimate the actual maximum frequency of the pulses that the module is able to count reliably The maximum frequencies given in the table below are such frequencies which make the module to freeze in practice if all inputs are connected to their maximum frequencies It means that to be able to reach the maximum frequencies there is no room for application program or any other processes like CAN traffic So the practical limits are lower but the maximum values of the table still give the basis for the estimation Inputs of this type are also suitable for quadrature sensor position counting Any of these inputs can be logically paired with another similar input The result is a two channel pulse counter which is capable of detecting the direction of the movement of the sensor The pairing is done in application program The pulse count and pulse frequency can be read from the pulse input channels The following table shows the IW addresses where to read the wanted data when using CoDeSys 2 1 Pulse Input channels Channel Pn Pulse Frequency Pulse Count X3 23 IW150 IW160 aao X3 17 IW151 IW161 X3 16 IW152 IW162 20 4 x31 1 wwa For more information on pulse input channels refer to Hardware Library manual HW lib Epec Oy reserves all rights for
36. saved parameters 10 separately saved sets Maximum code size 256 kb CAN buses e User programmable CAN for all physical CAN buses e Supported baud rates 50 100 125 250 500 and 1000 kbit s e Supported protocols e CANopen for all physical buses e J1939 only for one bus in the same module e SOBUS only for one bus in the same module Possible to add external c programmed library Minimum PWM frequency e 40 Hz for 20 MHz module e 80 Hz for 40 MHz module Maximum pulse input frequency 40 kHz Joint frequency for all pulse inputs e g four channel in use gt 10 kHz for each channel Is dependable for the other interrupt load in module for example heavy CAN traffic can reduce maximum frequency 2 2 CANopen Indexes CANopen communication features can be installed through software for example NodelDs and CAN rates For more information refer to programming manuals Epec Oy Tiedekatu 6 Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family A 2024 CONTROL MODULE 2024G08 G18 MAN000185 3 INPUT OUTPUT SPECIFICATIONS module 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 Furth
37. t is selected Inputs are divided into groups by the input impedance configuration The input impedance of each group is controlled by a bit in an nput Impedance Configuration Register IICR This register is invisible to the programmer but it can be written by HW SET AI TYPE function call withstand the normal maximum input voltage rating The maximum rating is lowered H When an input like this is configured as a low impedance current input it can t in this case to 15 volts In PLCopen programming environment there is a word variable in IW area associated with each pin from where the software can read the actual signal magnitude at the pin In carefully selected applications these pins can also be used as digital inputs Generally it is not recommended In high impedance voltage input configuration they have low threshold voltage which is quite sensitive to interference signals In low impedance current input configuration they are subject to damage if they are connected to for example 24 volt system voltage There are bits in X area associated with these inputs to support the DI functionality Input Impedance Configuration Register IICR Bit Input Group IICR O X1 12 IICR 1 X2 12 IICR 2 5 6 7 3 __ 8 IICR 4 X3 13 14 Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111
38. uidelines The user of this documentation should follow general machine safety guidelines directives and regulation appropriate to his her country or market area This product does not comply with SIL2 or SIL3 classifications and should not be used in such applications e g lifting people where SIL 2 or 13 are required by directives or other regulations 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 Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address Puhelin Phone Fax Internet PL P O Box 194 358 0 20 7608 111 358 0 20 7608 110 www epec fi FIN 60320 Seinajoki FIN 60101 Sein joki Finland EPEC Epec CAN Module Family c 2024 CONTROL MODULE 2024G08 G18 MAN000185 so that the machine operator has the right information how to operate the machine correctly and safely Epec Oy Tiedekatu 6 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
39. xiliary supply for external devices X3 10 max total for all pins together Ground X1 9 GND X1 10 3 A pin X1 11 X2 13 X2 14 X2 15 X3 3 X3 4 X3 11 X3 12 This pin does not provide power supply for current sourcing outputs Please consult the manufacturer before using this pin as a module voltage supply Epec Oy reserves all rights for improvements without prior notice Postiosoite Postal address PL P O Box 194 FIN 60101 Sein joki Finland Puhelin Phone 358 0 20 7608 111 Fax Internet 358 0 20 7608 110 www epec fi EPEC Epec CAN Module Family 2024 CONTROL MODULE 2024G08 G18 MAN000185 5 BUS CONNECTION 5 1 Bus Connection Pins The CAN communication pins and the power supply are connected in the module s AMP8 connector as follows Designation Connector pin number interface system interface X4 2 CAN H X4 6 CAN L CAN2 interface user X4 7 CAN H programmable communication X4 8 CAN L Factory use only this pin must be left open 5 2 CAN Interface Higher layer protocol is user programmable CAN2 communication The physical interface of CAN interface is according to ISO 11898 and CAN 2 0B protocol The downloading of the application programs can only be done via CAN1 The programmability of CANs depends on the used programming environment as described in the following table Programming environment CAN programmability CoDeSys 2 1

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