Murphy Xpansion IX3212 Reference Manual Download

Page: 28 / 62

Section 80

00-02-0829

2018-02-26

26 -

4.3.1.6 POR Command

The POR Command sets the percentage PWM level for each output at module power on/reset. This establishes

the output PWM level an individual output will be commanded to at start up. This can be useful in many

applications, but because the PDM is no longer under supervisory control, appropriate testing should be

conducted to ensure safe operation.

Data Length:

5 bits, signed

Resolution:

6.25 % / lsb

-100 % offset

Data Range:

-100 % to 100 %

Operational Range: same as data range

Type:

Status (command)

PGN:

PGN 61184 –

Configure Output

POR Command Value

Commanded PWM %

Actual PWM %

01111

93.75

100

01110

87.5

01101

81.25

01100

01011

68.75

01010

62.5

01001

56.25

01000

00111

43.75

00110

37.5

00101

31.25

00100

00011

18.75

00010

12.5

00001

6.25

00000

11111

-6.25

11110

-12.5

11101

-18.75

11100

-25

11011

-31.25

Summary of Contents for Xpansion IX3212

Page 1: ...00 02 0829 2018 02 26 Section 80 Intelligent Xpansion Series IX3212 PDM Reference Manual ...

Page 2: ...Please read the following information before installing BEFORE BEGINNING USE OF THIS PRODUCT Read and follow all instructions Please contact Enovation Controls immediately if you have any questions ...

Page 3: ...al Source Control 17 4 2 NAMING AND NUMBERING CONVENTIONS 18 4 3 CONFIGURING 20 4 3 1 Configure Output Function 21 4 3 1 1 Configuration Identifier 22 4 3 1 2 Output Channel 22 4 3 1 3 Soft Start Step Size 22 4 3 1 4 Motor Lamp Mode 24 4 3 1 5 Loss of Communication 25 4 3 1 6 POR Command 26 4 3 1 7 POR Enable 27 4 3 1 8 Command Type 27 4 3 1 9 Motor Braking 28 4 3 1 10 LSC Digital Input 28 4 3 1 1...

Page 4: ...ltage 45 4 5 4 Analog Inputs 7 8 Software Version and Power Supply 46 4 5 4 1 Total Current Status 47 4 5 4 2 Power Supply Status 47 4 5 4 3 Software Version 47 4 5 5 Output Feedback 48 4 5 5 1 Current Power Position or Rate Feedback 49 4 5 6 Output Function Handshake 50 4 5 7 Output Configuration Handshake 51 4 6 EXAMPLE MESSAGES 53 4 6 1 Arbitration Field 53 4 7 EXAMPLE PSEUDO CODE 54 4 7 1 Conf...

Page 5: ... length is reduced and costs are cut by remotely locating the PDM module near signals and loads Then the I O is multiplexed using a CAN bus network which allows engineers to greatly simplify harness design for ease of installation and improved reliability For applications not requiring a CAN bus the inputs can directly trigger outputs so there is no need for a separate microcontroller The enclosur...

Page 6: ...ges The PDM is fully sealed and uses field proven Deutsch connectors for superior performance in the most adverse environments In addition the 12 fully protected solid state outputs have the capacity to handle high current loads The compact housing design simplifies mounting in tight areas and eases harness installation through reduced wiring An innovative I O structure that can be monitored and c...

Page 7: ...hese can be used to proportionally drive outputs Outputs 7 to 12 offer 100 Hz PWM frequency with 10 percent duty cycle resolution These outputs are best suited for applications where it is acceptable for output levels to increase in incremental steps or with a defined ramp rate Each output channel incorporates output overload shutdown configurable in 2 5A increments diagnostic indication of short ...

Page 8: ...tation Conventions Used in the Manual This document features Adobe Reader bookmarks to quickly jump between sections Additionally blue colored hyperlinks are used throughout the manual to allow easy navigation between the various CAN messages ...

Page 9: ...should be mounted on a vertical surface with either J3 J6 facing down or to the right Secure the module with either 6 mm or 1 4 in diameter fasteners IMPORTANT The harness should have a drip loop s to allow water to run off the wires IX3212 PDM shown in preferred mounting orientations ...

Page 10: ...Section 80 00 02 0829 2018 02 26 8 2 2 Dimensions IX3212 PDM Dimensions ...

Page 11: ...SAE J1614 specifies requirements and design guidelines for electrical wiring systems of less than 50 V and cable diameters from 0 35 mm2 to 19 mm2 used on off road self propelled earthmoving machines as defined in SAE J1116 and agricultural tractors as defined in ASAE S390 o SAE J2202 recommends and describes the application of the primary wiring distribution system of less than 50 V and includes ...

Page 12: ...e harness is constructed to meet the needs of the application environment e g shock vibration moisture temperature chemicals and impact Make certain that the harness is designed and constructed to minimize induced interference resulting from EMI coupling between signal wires Separate power circuits from low level signals Make provisions for drip loops to attach devices in exposed locations and pre...

Page 13: ...to the PDM receptacles or from the wire side of the mating plugs J2 J1 PIN FUNCTION LIMIT Mating Connector J1 Ground 70 A continuous return DTHD 06 1 4S J2 VBATT 70 A continuous source DTHD 06 1 4S IMPORTANT A circuit breaker or fuse is required on the connection leading to J2 and should be located near the battery or power source ...

Page 14: ...d Output GND Isolated 5 V 70 mA both pins DT06 12SA Gray J3 2 Digital Input 12 0 28 VDC J3 3 Digital Output 7 15 A PWM 100 Hz J3 4 Digital Output 8 15 A PWM 100 Hz J3 5 Digital Output 9 15 A PWM 100 Hz J3 6 Digital Output 10 15 A PWM 100 Hz J3 7 Analog Input 8 0 5 V J3 8 Analog Input 7 0 5 V J3 9 Analog Input 6 0 5 V J3 10 Analog Input 5 0 5 V J3 11 Analog Input 4 0 5 V J3 12 5V Regulated Output 5...

Page 15: ... 12SB Black J4 2 Digital Output 2 15 A PWM 500 Hz J4 3 Digital Output 3 15 A PWM 500 Hz J4 4 Digital Output 4 15 A PWM 500 Hz J4 5 Digital Output 5 15 A PWM 500 Hz J4 6 Digital Output 6 15 A PWM 500 Hz J4 7 Analog Input 3 0 5 V J4 8 Analog Input 2 Resistive J4 9 Analog Input 1 Resistive J4 10 Digital Input 11 0 28 VDC J4 11 Digital Input 2 0 28 VDC J4 12 Digital Input 1 0 28 VDC NOTE Digital Input...

Page 16: ...Input 3 0 28 VDC J5 3 Digital Input 4 0 28 VDC J5 4 Digital Input 5 0 28 VDC J5 5 Digital Input 6 0 28 VDC J5 6 Regulated Output GND Isolated 5 V 70 mA both pins J5 7 Regulated Output 5 V 70 mA both pins J5 8 Digital Input 7 0 28 VDC J5 9 Digital Input 8 0 28 VDC J5 10 Digital Input 9 0 28 VDC J5 11 Digital Input 10 0 28 VDC J5 12 CAN HIGH NOTE The CAN bus circuit has an auto termination detection...

Page 17: ...iewed looking into the PDM receptacles or from the wire side of the mating plugs J6 PIN FUNCTION LIMIT Mating Connector J6 1 Digital Output 12 15 A PWM 100 Hz DTP06 2S J6 2 Digital Output 11 15 A PWM 100 Hz NOTE Deutsch DT series contacts are size 16 DTP series contacts are size 12 ...

Page 18: ...nected Table 1 lists the available source addresses and allows for up to four PDM modules on a single CAN bus The PDM defaults to SA 30 17h if the inputs are not connected The PDM does not support SA arbitration according to J1939 Digital Input 1 Digital Input 2 SA 1 open 1 open 30 1Eh default 0 1 open 31 1Fh 1 open 0 32 20h 0 0 33 21h Table 1 Source Address Selection IMPORTANT When multiple PDMs ...

Page 19: ...n an output state through power cycles of the unit The PDM can power up with individual outputs at predefined PWM levels 4 1 4 2Local Source Control Local Source Control LSC is a mode that enables any digital input to trigger the respective output The effect of this mode is to allow any number of outputs to be autonomously commanded by the specified input It is possible to use the PDM in stand alo...

Page 20: ...on The message must contain 8 bytes Example Message Data Length 8 bytes Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 4 5 1 1 2 7 2 bits Digital Input 4 4 5 1 2 2 5 2 bits Digital Input 3 4 5 1 2 2 3 2 bits Digital Input 2 4 5 1 2 2 1 2 bits Digital Input 1 4 5 1 2 3 7 2 bits Digital Input 8 4 5 1 2 3 5 2 bits Digital Input 7 4 5 1 2 3 3 2 bits Digital...

Page 21: ... ordered starting in byte 2 bit 2 and continue throughout byte 1 The illustration below shows the numeric value 221 DDh or 00 1101 1101 in binary format in the dark gray portion The light gray bits are not used Example Start Position Byte 1 Byte 2 Byte 3 Byte 4 Bits 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 Data 1 1 0 1 1 1 0 1 1 1 1 1 1 1 0 0 NOTE As specified by J1939 unuse...

Page 22: ...on messages be sent on every power up It is also possible to re configure the PDM on the fly The following two message types define how to configure the PDM Configure Output Configure Output Channels PowerVision Configuration Studio 2 7 and later versions have a development application which makes it easy to configure and control the Output Functions and Channels using PowerView displays See the P...

Page 23: ...a Page 0 PDU Format PF 239 Proprietary A PDU1 format PDU Specific PS 30 1Eh or as set DA Source Address of the PDM Priority 5 Parameter Group Number 61184 EF00h Start Position Length Parameter Name Reference 1 1 byte Configuration or Command Identifier 4 3 1 1 2 1 byte Output Channel Number 4 3 1 2 3 1 byte Soft Start Step Size 4 3 1 3 4 1 byte Motor Lamp Mode 4 3 1 4 5 3 6 bits Reserved Always hi...

Page 24: ...rt Step Size Motors and lamps often require soft starting to reduce the in rush current and prevent the PDM from producing over current errors Also lights can be soft started to reduce the in rush current and potentially extend the filament life 1 1 2 2 3 3 etc 255 FFh 100 Soft Start disabled Data Length 1 byte Resolution 1 1 bit 0 offset Data Range 1 to 100 Operational Range same as data range Ty...

Page 25: ...strations below show the time base of an example 10 PWM value Depending on the Command final value and the soft start step size the elapsed time to reach the final PWM value may vary by one or two steps 0 10 20 30 40 50 60 70 80 90 100 0 100 200 300 400 500 600 700 PWM Value Elapsed Time ms Command Lamp Mode 0 10 20 30 40 50 60 70 80 90 100 0 1000 2000 3000 4000 5000 PWM Value Elapsed Time ms Comm...

Page 26: ...tus command PGN PGN 61184 Configure Output Lamp filaments exhibit a high peak inrush current when first powered A stair shaped profile for the overcurrent protection is preprogrammed at the factory The lamp mode peak current is limited to 110 A nominally for 17 2 ms The next level is 43 3 A for 137 ms Finally up to 15 A of continuous current is the maximum limit If the limit is exceeded anywhere a...

Page 27: ...inrush current and prevent an over current condition NOTE The inductance of the motor inertia of the rotor and load including a stalled rotor condition factor into whether the PDM is capable of driving a DC motor Experimentation is often necessary to determine if a DC motor is compatible with the PDM 4 3 1 5Loss of Communication Defines how the outputs behave when CAN communication is lost This ca...

Page 28: ...cted to ensure safe operation Data Length 5 bits signed Resolution 6 25 lsb 100 offset Data Range 100 to 100 Operational Range same as data range Type Status command PGN PGN 61184 Configure Output POR Command Value Commanded PWM Actual PWM 01111 93 75 100 01110 87 5 87 5 01101 81 25 81 25 01100 75 75 01011 68 75 68 75 01010 62 5 62 5 01001 56 25 56 25 01000 50 50 00111 43 75 43 75 00110 37 5 37 5 ...

Page 29: ...on reset functionality for the individual output 1 Disabled 0 Enabled Data Length 1 bit Resolution 2 states 1 bit 0 offset Data Range 0 to 1 Operational Range same as data range Type Status command PGN PGN 61184 Configure Output 4 3 1 8Command Type Command type determines if the loss of CAN feature is enabled or disabled 0 Enabled 1 Disabled Data Length 1 bit Resolution 2 states 1 bit 0 offset Dat...

Page 30: ...l 4 bits must be 1111 0x15 The two bytes associated with calibration time below since it is unsupported must be 11 The two bits associated with Response below must also be 11 Therefore when not using LSC Byte 8 must be 0xFF Data Length 4 bits Resolution 12 states 4 bits 0 offset Data Range 0 to 11 Operational Range same as data range Type Status command PGN PGN 61184 Configure Output 4 3 1 11 Cali...

Page 31: ...rns on depending on the input is active low high or both either low or high 00 Reserved 01 Active Low 10 Active High 11 Active Low or High Data Length 2 bits Resolution 2 states 2 bits 0 offset Data Range 0 to 1 Operational Range same as data range Type Status command PGN PGN 61184 Configure Output ...

Page 32: ...art Position Length Parameter Name Reference 1 1 byte Output Channel Group Identifier 4 3 2 1 2 5 4 bits Current Limit Output Channel 1 or 7 4 3 2 2 2 3 2 bits Feedback Type Output Channel 1 or 7 4 3 2 3 2 2 1 bit Automatic Reset Output Channel 1 or 7 4 3 2 3 2 1 1 bit High Side or H Bridge Output Channel 1 or 7 4 3 2 5 3 5 4 bits Current Limit Output Channel 2 or 8 4 3 2 2 3 3 2 bits Feedback Typ...

Page 33: ...yte Reserved FFh 4 3 2 1Output Channel Group Identifier This identifier is a secondary address that determines which set of outputs will be configured 6 Output Channels 1 6 7 Output Channels 7 12 Data Length 1 byte Resolution 2 states 1 byte 0 offset Data Range 0 Operational Range same as data range Type Status command PGN PGN 61184 Configure Output Channels 4 3 2 2Current Limit Current Limit sets...

Page 34: ...s measured PGN PGN 61184 Configure Output Channels or Output Configuration Handshake 4 3 2 4Automatic Reset Automatic Reset specifies if the PDM shall autonomously reset the output or remain in the OFF state during an over current event Once an output is turned OFF by the PDM the output needs to be commanded OFF prior to commanding the output 0 Automatic reset 5 attempts to reset before remaining ...

Page 35: ... control H Bridge pairs are grouped as follows 1 and 2 3 and 4 5 and 6 etc Note When configuring the output for H bridge operation the second channel in the pair even number must have byte 2 set to 255 0 High Side single 1 H Bridge dual Data Length 1 bit Resolution 2 states 1 bit 0 offset Data Range 0 Operational Range same as data range Type Status command PGN PGN 61184 Configure Output Channels ...

Page 36: ...ection 80 00 02 0829 2018 02 26 34 4 4 Commanding After the configuration is complete the IX3212 outputs can be commanded The following message type defines how to command the PDM Command Output Channels ...

Page 37: ...A Source Address of the PDM Priority 5 Parameter Group Number 61184 EF00h Start Position Length Parameter Name Reference 1 1 byte Output Command Identifier 4 4 1 1 2 1 byte Command Output Channel 1 or 7 4 4 1 2 3 1 byte Command Output Channel 2 or 8 4 4 1 2 4 1 byte Command Output Channel 3 or 9 4 4 1 2 5 1 byte Command Output Channel 4 or 10 4 4 1 2 6 1 byte Command Output Channel 5 or 11 4 4 1 2...

Page 38: ...e defines the output channel s PWM value as a percentage This is a signed value msb is the sign bit Note When an output is either disabled or the second channel in an H bridge pair the command should be set to 0 for that channel 0 0 1 0 78125 127 100 128 100 255 0 78125 Data Length 1 byte Resolution 0 78125 lsb 0 offset Data Range 100 to 100 Operational Range same as data range Type Status command...

Page 39: ... bit 0 offset Data Range 0 or 1 Operational Range same as data range Type Status command PGN PGN 61184 Command Output Channels 4 4 1 4Module Transmit Rate This value defines the repetition rate that the PDM will transmit the feedback and diagnostics 00 500ms 01 250ms 02 50ms 03 10ms Data Length 2 bits Resolution 4 states 2 bits 0 offset Data Range 0 to 3 Operational Range same as data range Type S...

Page 40: ...sured analog values and handshake The following message type defines how to command the PDM Analog Inputs 1 2 Digital Inputs Feedback Analog Inputs 3 4 Output Diagnostics Analog Inputs 5 6 Battery and Sensor Supply Analog Inputs 7 8 Software Version and Power Supply Output Feedback Output Function Handshake Output Configuration Handshake ...

Page 41: ...rameter Group Number 61184 EF00h Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 4 5 1 1 2 7 2 bits Digital Input 4 4 5 1 2 2 5 2 bits Digital Input 3 4 5 1 2 2 3 2 bits Digital Input 2 4 5 1 2 2 1 2 bits Digital Input 1 4 5 1 2 3 7 2 bits Digital Input 8 4 5 1 2 3 5 2 bits Digital Input 7 4 5 1 2 3 3 2 bits Digital Input 6 4 5 1 2 3 1 2 bits Digital Inp...

Page 42: ...tputs 7 12 Feedback 134 86h Motor Model Handshake 135 87h Output Configuration Handshake Channels 1 6 136 88h Output Configuration Handshake Channels 7 12 Data Length 1 byte Resolution 1 state 1 byte 0 offset Data Range 0 Operational Range same as data range Type Status command PGN PGN 61184 Feedback and Diagnostics 4 5 1 2Digital Inputs Three states describe each digital input 00 Open Circuit 01 ...

Page 43: ...023 Operational Range same as data range Type Status command PGN PGN 61184 Feedback and Diagnostics Example If we consider the 10 bits of Analog Input 1 where 9 is the most significant bit and 0 is the least significant bit with n representing the unused bits the bytes are ordered as follows LSB byte 5 76543210 MSB byte 6 nnnnnn98 See the Condensed Message Definition at the end of the manual for a...

Page 44: ...S 17 11h DA Source Address of the configuring display or controller Priority 5 Parameter Group Number 61184 EF00h Feedback and Diagnostics Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 4 5 1 1 2 7 2 bits Output 1 Diagnostic 4 5 2 1 2 5 2 bits Output 2 Diagnostic 4 5 2 1 2 3 2 bits Output 3 Diagnostic 4 5 2 1 2 1 2 bits Output 4 Diagnostic 4 5 2 1 3 7 2...

Page 45: ... Output channel diagnostic status 00 No faults 01 Short circuit 10 Over current 11 Open circuit Data Length 2 bits Resolution 4 states 2 bits 0 offset Data Range 0 3 Operational Range same as data range Type Status measured PGN PGN 61184 Feedback and Diagnostics ...

Page 46: ...te the measured values Transmission Repetition 20 500 ms Data Length 8 bytes Data Page 0 PDU Format PF 239 Proprietary A PDU1 format PDU Specific PS 17 11h DA Source Address of the configuring display or controller Priority 5 Parameter Group Number 61184 EF00h Feedback and Diagnostics Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 4 5 1 1 2 1 1 bit Sens...

Page 47: ...s 4 5 3 2Sensor Supply High 5V sensor supply is out of range high 0 5V output too high 1 5V output OK Data Length 1 bit Resolution 1 0 offset Data Range 0 1 Operational Range same as data range Type Status PGN PGN 61184 Feedback and Diagnostics 4 5 3 3Battery Voltage The measured value of the battery voltage Data Length 2 bytes Resolution 10 bits 0 offset Data Range 0 63 999 V Operational Range sa...

Page 48: ...tary A PDU1 format PDU Specific PS 17 11h DA Source Address of the configuring display or controller Priority 5 Parameter Group Number 61184 EF00h Feedback and Diagnostics Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 4 5 1 1 2 1 1 bit Total Current Status 4 5 4 1 2 2 1 bit Power Supply Status 4 5 4 2 3 2 bytes Software Version 4 5 4 3 5 2 bytes Analog...

Page 49: ...stics 4 5 4 2Power Supply Status Power supply status 0 Power supply NOT OK 1 Power supply OK Data Length 1 bit Resolution 1 0 offset Data Range 0 1 Operational Range same as data range Type Status PGN PGN 61184 Feedback and Diagnostics 4 5 4 3Software Version The software version number is represented by a 16 bit value Data Length 2 bytes Resolution 0 offset Data Range Operational Range same as da...

Page 50: ...ietary A PDU1 format PDU Specific PS 17 11h DA Source Address of the configuring display or controller Priority 5 Parameter Group Number 61184 EF00h Feedback and Diagnostics Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 132 or 133 4 5 1 1 2 1 byte Output 1 or 7 Feedback 4 5 5 1 3 1 byte Output 2 or 8 Feedback 4 5 5 1 4 1 byte Output 3 or 9 Feedback 4 5...

Page 51: ...ed Current Feedback resolution of 0 125 A lsb Power Feedback 1 W LSB Position Feedback 1 LSB offset 75 range 75 to 180 Rate Feedback 25 sec LSB range 0 to 63 75 Data Length 1 byte Resolution 1 byte 0 offset Data Range 0 15 A Operational Range same as data range Type Status measured PGN PGN 61184 Feedback and Diagnostics ...

Page 52: ...ta Length 8 bytes Data Page 0 PDU Format PF 239 Proprietary A PDU1 format PDU Specific PS 17 11h DA Source Address of the configuring display or controller Priority 5 Parameter Group Number 61184 EF00h Feedback and Diagnostics Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 4 5 1 1 2 1 byte Channel Number 4 3 1 2 3 1 byte Soft Start Step Size 4 3 1 3 4 1...

Page 53: ...lay or controller Priority 5 Parameter Group Number 61184 EF00h Feedback and Diagnostics Start Position Length Parameter Name Reference 1 1 byte Feedback and Diagnostics Identifier 135 or 136 4 5 1 1 2 5 4 bits Current Limit Output Channel 1 or 7 4 3 2 2 2 3 2 bits Feedback Type Output Channel 1 or 7 4 3 2 3 2 2 1 bit Automatic Reset Output Channel 1 or 7 4 3 2 3 2 1 1 bit High Side or H Bridge Ou...

Page 54: ... EF00h Feedback and Diagnostics Start Position Length Parameter Name Reference 5 2 1 bit Automatic Reset Output Channel 4 or 10 4 3 2 3 5 1 1 bit High Side or H Bridge Output Channel 4 or 10 4 3 2 5 6 5 4 bits Current Limit Output Channel 5 or 11 4 3 2 2 6 3 2 bits Feedback Type Output Channel 5 or 11 4 3 2 3 6 2 1 bit Automatic Reset Output Channel 5 or 11 4 3 2 3 6 1 1 bit High Side or H Bridge ...

Page 55: ... may require adjusting the priority based on other devices on the CAN bus The PDU1 format is followed and the PDU Format PF is always set to EFh 239 which is reserved for proprietary use The PowerView display or CAN bus controller send messages to the PDM at Destination Address 1Eh 30 which is the same as the PDM Source Address The PDM broadcasts messages to Destination Address 11h 17 regardless o...

Page 56: ... n function ENDFOR FOR Output Groups 1 6 and 7 12 CONFIGURE Output Group READ Output Config Handshake Message ENDFOR 4 7 2 Command Outputs The following pseudo code outlines the possible steps to command the PDM SEQUENCE COMMAND Outputs 1 6 COMMAND Outputs 7 12 READ AI 1 2 and DIs READ AI 3 4 and Output Diagnostics READ AI 5 6 and Supplies READ AI 7 8 READ Outputs 1 6 Feedback READ Outputs 7 12 Fe...

Page 57: ...red method for powering the PDM Check the CAN bus and messaging 5 2 PDM Does Not Function Check the battery or power supply connection Check the external circuit breaker or fuse Check the power supply connection to the PDM Verify by connecting a voltmeter to the 5V Sensor Supply and determine if the unit has power If the Sensor Supply is not providing 5V continue to next step PDM has been damaged ...

Page 58: ...ance 2 2 kΩ pull up 6 analog 0 5 VDC input impedance 100 kΩ pull down 10 bit resolution Outputs 12 Digital High current 15 A maximum each 70 A total Configurable as high side switch open loop PWM or up to 6 H bridge pairs PWM frequency 500 Hz Outputs 1 6 and 100 Hz Outputs 7 12 Maximum off state leakage current 0 1 mA Open Load Detection 0 2 A minimum 0 5 A typical Sensor Supply 5 VDC at 70 mA CAN...

Page 59: ...2000 Hz 72 hrs axis Immunity EN 60945 ESD immunity 6 kV contact and 8 kV air EN 61326 1 radiated immunity 10 V m from 80 MHz to 2 7 GHz EN 61326 1 conducted immunity fast transients EN 61326 1 conducted immunity surges on power lines EN 60945 conducted immunity RF disturbance EN 61326 1 magnetic immunity SAE J1113 25 tri plate 10 kHz to 200 MHz L3 200 V m and 200 MHz to 1 GHz L2 100 V m Emissions ...

Page 60: ...tput 4 Feedback Output 5 Feedback Output 6 Feedback FF Outputs 7 12 Feedback 133 Output 7 Feedback Output 8 Feedback Output 9 Feedback Output 10 Feedback Output 11 Feedback Output 12 Feedback FF Output Function Handshake 134 Output Channel Soft Start Step Size Motor Bulb Mode Loss of CAN Not Used POR Cmd Braking LSC Response Outputs 1 6 Config Handshake 135 Output 1 Config Output 2 Config Output 3...

Page 61: ...NOTES ...

Page 62: ......

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