Epec 2024 Control Module

Technical Document

Document: 2024G08
Updated: 1.10.2008

Epec Oy
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Epec CAN Module Family
1.10.2008
2024 CONTROL MODULE 2024G08 / MAN000185

DOCUMENT VERSION HISTORY

Date Notes
1.10.2008 Document and layout updated
16.8.2006 First released version

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
1.10.2008
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TABLE OF CONTENTS

1 GENERAL .............................................................................................................................4
1.1 Purpose of This Document ........................................................................................4
1.2 About Manufacturer ...................................................................................................4
1.3 Epec CAN Module Family .........................................................................................4
1.4 Basic skills required...................................................................................................4
1.5 Safety guidelines .......................................................................................................4
1.6 Warranty ....................................................................................................................5
1.7 Limited liability ...........................................................................................................6
1.8 Environmental statement...........................................................................................6
2 I/O MODULE GENERAL DESCRIPTION.............................................................................7
2.1 Programming Environment........................................................................................7
2.1.1 Codesys 2.1 ....................................................................................................7
2.1.2 Codesys 2.3 ....................................................................................................8
2.2 CANopen Indexes .....................................................................................................8
3 INPUT / OUTPUT SPECIFICATIONS...................................................................................9
3.1 Configurable I/Os.......................................................................................................9
3.2 Digital Input..............................................................................................................10
3.3 Current Measuring Feedback ..................................................................................11
3.4 Digital Input / PWM Output / Digital Output .............................................................12
3.5 Digital Input / Analog Input ......................................................................................15
3.6 Digital Input / Digital Output (sinking) ......................................................................17
3.7 Digital Input / Pulse Input.........................................................................................19
3.8 Specification for Internal Diagnostics ......................................................................21
3.9 Closed Loops Wiring ...............................................................................................21
3.10 I/O / IEC Map ...........................................................................................................22
3.11 AMPSEAL Connectors ............................................................................................23
3.12 AMPSEAL Cable Dimensions .................................................................................23
4 POWER SUPPLY................................................................................................................24
4.1 Overvoltage Protection ............................................................................................24
4.2 Power Consumption ................................................................................................24
4.3 Power Supply Pins ..................................................................................................24
5 BUS CONNECTION............................................................................................................25
5.1 Bus Connection Pins ...............................................................................................25
5.2 CAN Interface ..........................................................................................................25
6 ENVIRONMENTAL CHARACTERS...................................................................................26
6.1 Protection.................................................................................................................26
6.2 EMC Tests ...............................................................................................................26
6.3 Environmental Tests................................................................................................30
7 HOUSING............................................................................................................................32
7.1 Mounting ..................................................................................................................32
7.2 Unit Dimensions ......................................................................................................33
8 ADDITIONAL DOCUMENTS ..............................................................................................34

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

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FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
1.10.2008
2024 CONTROL MODULE 2024G08 / MAN000185

1 GENERAL

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 this
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
systems 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 skills 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 guidelines

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 SIL3 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

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
1.10.2008
2024 CONTROL MODULE 2024G08 / MAN000185

so that the machine operator has the right information how to operate the machine correctly and
safely.

This product is designed to be used only for machine controlling purposes. The manufacturer
does not assume any responsibility for this product being fit for any particular application, unless
otherwise expressly stated in writing by the manufacturer.

This product complies with those certifications and standards that are listed below. The
manufacturer does not guarantee that this product complies any other certification, standard or
test than listed below.

This product is not field serviceable, so it should not be opened at any situation.

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
manufacturers 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 Seinjoki,
Finland.

The warranty does not cover any costs related to removing or fastening of devices related to the
products. Neither does the warranty cover the expenses of sending devices to or from the
manufacturer for repairs. The warranty does not cover possible expenses relating to travelling,
accommodation, daily benefits, etc. of installers.

The warranty becomes null and void if the buyer and/or a third party alters the products or the
firmware in any way or if they are not used in accordance with the Manufacturers 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

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
1.10.2008
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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 damages and/or indirect losses, whatever their cause
may be. In case claims based on product liability are brought against the Manufacturer for which
claims the manufacturer may be liable, the manufacturers 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 ISO14001 environmental certified processes and materials to

manufacture products. The manufacturer undertakes to arrange for the recycling and scrapping
of the products that are returned to the manufacturer by the buyer and/or the products that are
received by the Manufacturer in connection with maintenance services performed as a result of
that repairing of the products is deemed by the manufacturer to be inappropriate.

The manufacturer will charge a scrapping fee from the buyer according to the manufacturer's
price list in force from time to time. No scrapping fee will, however, be charged for products that
are received by the manufacturer during the warranty period.

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
1.10.2008
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2 I/O MODULE GENERAL DESCRIPTION

I/O Module is part of the Epec CAN Module Family. I/O 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. I/O
Module has two CAN-busses.

Features Applications
ISO High Speed CAN1 interface Forest Machines
ISO High Speed CAN2 interface Road Maintenance
Operating voltage 10 - 30 VDC Construction Machines
Recommended operating voltage 24 VDC Crushing Stations
Overvoltage protection Industrial Machines
Overheating protection Agricultural applications
Short-circuit protection for outputs Automation applications
Gold plated, locked and sealed connectors: Mining Machines
8-pin AMPSEAL for module connection
3 x 23-pin AMPSEAL for I/O
Small outline dimensions: 147 x 113 x 46
Weight 0,7 kg

Monitoring Functions

Following issues can be monitored by the application

Supply voltage
Firmware/application code corruption
Module temperature

Software deadlock is monitored by the hardware watchdog that reboots the module
automatically after 300 ms software deadlock.

2.1 Programming Environment

This product can be programmed with either CoDeSys 2.1 or CoDeSys 2.3 depending on the
modules firmware. If the firmwares 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.

2.1.1 Codesys 2.1

Flash
248 x 16-bit flash saved parameters (Runtime older than 2.15)
756 x 16-bit flash saved parameters (Runtime 2.15 or newer)
CAN buses
Supported baud rates 20, 50, 100, 125, 250, 500 and 1000 kbit/s.
CAN1
CANopen
CAN2
User programmable
J1939
Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Pulse inputs
Maximum pulse input frequency 20 kHz.
Joint frequency for all pulse inputs. (e.g. four channel in use --> 5 kHz for each channel.)
Minimum PWM frequency
40 Hz for 20 MHz module
80 Hz for 40 MHz module

2.1.2 Codesys 2.3

Flash
6200 bytes flash saved parameters.
10 separately saved sets.
Maximum code size 254 kb.
CAN-buses
User programmable CAN for all physical CAN-buses
Supported baud rates 50, 100, 125, 250, 500 and 1000 kbit/s.
Supported protocols
CANopen (for all physical buses)
J1939 (only for one bus in the same module)
ISOBUS (only for one bus in the same module)
Possible to add external c-programmed library
Minimum PWM frequency
40 Hz for 20 MHz module
80 Hz for 40 MHz module
Maximum pulse input frequency 40 kHz. Joint frequency for all pulse inputs. (e.g. four
channel in use --> 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 NodeIDs and
CAN rates. For more information refer to programming manuals.

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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3 INPUT / OUTPUT SPECIFICATIONS

I/O 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.
Furthermore, there are I/O pins which can be used as inputs or as outputs at the control of the
application programmer.

3.1 Configurable I/Os

DI AI PI DO PWM
Max Current Digital Digital Pulse Width
Digital Analog Pulse
Amount Measuring Output Output Modulation
Input Input Input
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

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
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Epec CAN Module Family
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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 IX 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
Symbol Parameter Conditions Min Max Units
VI Greater than 4,3 V (Note 1) 9,0 11 k
RI Input Resistance Referenced to 1,3 V;
6,2 7,6 k
VI Less than 4,3 V (Note 1)
VIH Input High Voltage 4,8 30 V
VIL Input Low Voltage -0,5 4,2 V
tC=10 ms (Note 2, 3, 4, 5) 12 Hz
fI Input Frequency
Variable tC (Note 2, 3, 5) 1/8tC
CI Input Capacitance 37 57 nF

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: tC 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

+24V/+12V

Module

Epec Oy reserves all rights for improvements without prior notice

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Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
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Epec CAN Module Family
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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 Parameter Conditions Min Max Units
RI Input Resistance 0,21 0,23
Analog measuring
0,0 1,0 A
II Input Current range
(Note 1) 1,7 A
TIRE Total Input Referred Error 55 mA

Note 1: Exceeding the max value might cause damage to input.

Connection Principle

+24V

Load

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.

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Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
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Epec CAN Module Family
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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 X2.2
X1.3 X2.5
X1.4 X2.6
X1.7 X2.7
X1.8 X2.8
X1.14 X2.9
X1.15 X2.10
X1.16 X2.16
X1.17 X2.17
X1.22 X2.22
X1.23 X2.23

These kind of outputs are also 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 by 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

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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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 X2.9
11 X2.10
B 12 X2.8
C 13 X2.7
D 14 X2.6
E 15 X2.5
F 16 X1.7
17 X1.8
18 X1.15
19 X1.14
20 X2.17
21 X2.16
22 X2.22
23 X2.23

Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output Resistance Output On 0,2
IO Output Current Output On 3 A
fPWM PWM Frequency (Note 1) 40 2550 Hz
Group A and F (Note 1) 2,5 MHz/ fPWM
Group B, C, D and E
312,5 kHz/ fPWM
(Note 1)
PWM Resolution Group A and F;
25000
fPWM=100 Hz (Note 1)
Group B, C, D and E;
3125
fPWM=100 Hz (Note 1)
RI Input Resistance Output Off 2,8 7,5 K
VIH Input High Voltage 3 VIN V
VIL Input Low Voltage Output Off -0,5 1 V
tC=10 ms (Note 2, 3, 4) 12 Hz
fI Input frequency
Variable tC (Note 2, 4) 1/8tC
tC=10 ms (Note 2, 3, 4) 40 ms
tI Input Pulse Width
Variable tC (Note 2, 4) 4tC

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Epec CAN Module Family
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Connection Principle
+24V

Load

Module

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 Principle (when used as an input)

+24V/+12V

+24V

Module

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: tC denotes software cycle time

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

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3.5 Digital Input / Analog Input

Pins X1.12, X2.12, X3.5X3.8, 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 k +2,5 V
(voltage input) 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 Input Impedance Configuration Register (IICR). This
register is invisible to the programmer but it can be written by HW_SET_AI_TYPE function call.

When an input like this is configured as a low impedance current input, it cant
withstand the normal maximum input voltage rating. The maximum rating is lowered
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 IX area associated with these inputs to support the DI functionality.

Input Impedance Configuration Register (IICR)

Bit Input Group
IICR.0 X1.12
IICR.1 X2.12
IICR.2 X3: 5, 6, 7
IICR.3 X3.8
IICR.4 X3: 13, 14

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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input Voltage Analog measuring range 0,0 5,0 V
II Input Current Analog measuring range 0,0 22,7 mA
(Note 1) 2,0 30 V
VIH Input High Voltage
(Note 2) 2,0 15 V
VIL Input Low Voltage -0,5 1,0 V
IIH Input High Current (Note 2) 9,0 27 mA
IIL Input Low Current (Note 2) -2,3 4,5 mA
Referred to 2,5 V (Note 1) 40 42 k
RI Input Resistance
(Note 2) 215 225
Total Input Referred 0,25 V
TIRE
Error (Note 2) 1,1 mA
Time Constant of Input
I (Note 1) 3,1 4,7 ms
Low Pass Filter

Connection Principle; High Impedance Voltage Input

+24V

Module

"0"

Connection Principle; Low Impedance Current Iinput

+24V

Module

"1"

Note 1: Input Configured for Voltage Measurement (220 Input Resistor Disconnected)
Note 2: Input Configured for Current Measurement (220 Input Resistor Connected)

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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 and 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 IX 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
RO Output Resistance Output On 0,12
IO Output Current Output On 3 A
RI Input Resistance Output Off 9 11 k
VIH Input High Voltage Output Off 3,0 30 V
VIL Input Low Voltage -0,5 1,0 V
tC=10 ms (Note 1, 2, 3) 12 Hz
fI Input frequency
Variable tC (Note 1, 3) 1/8tC
tC=10 ms (Note 1, 2, 3) 40 ms
tI Input Pulse Width
Variable tC (Note 1, 3) 4tC

Connection Principle

+24V

Module
Load

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 18 / 34
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Connection Principle (when used as input)

+24V

Module

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: tC denotes software cycle time

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 19 / 34
Epec CAN Module Family
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3.7 Digital Input / Pulse Input

Pins X3.16X3.23 are ground referenced inputs (DI) including pulse counting (PI) feature.
These pins have 10 k 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 the 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 application 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 Pin Pulse Frequency Pulse Count

0 X3.23 %IW150 %IW160
1 X3.17 %IW151 %IW161
2 X3.16 %IW152 %IW162
3 X3.20 %IW153 %IW163
4 X3.19 %IW154 %IW164
5 X3.18 %IW155 %IW165
6 X3.22 %IW156 %IW166
7 X3.21 %IW157 %IW167

For more information on pulse input channels refer to Hardware Library manual (HW lib).

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 20 / 34
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI greater than 4,3 V (Note 1) 9,0 11 k
RI Input Resistance Referenced to 1,3 V;
6,2 7,6 k
VI less than 4,3 V (Note 1)
VIH Input High Voltage 4,8 30 V
VIL Input Low Voltage -0,5 4,2 V
Group A: X3.23, X3.17, X3.16,
5 kHz
Input Frequency X3.20 (Note 2, 3, 6)
(frequency Group B: X3.19, X3.18, X3.22,
2,5 kHz
measurement and X3.21 (Note 2, 3, 6)
fI pulse counting) Sum of the frequencies of all the
40 kHz
above pins (Note 2, 3, 6)
Input Frequency tC=10 ms (Note 3, 4, 5, 7) 12 Hz
(normal inputs) Variable tC (Note 3, 5, 7) 1/8tC
Note 3, 6 50 s
tI Input Pulse Width tC=10 ms (Note 3, 4, 5, 7) 40 ms
Variable tC (Note 3, 5, 7) 4tC
CI Input Capacitance 0,8 47 nF

Connection Principle
+24V/+12V

Module

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: tC denotes software cycle time
Note 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

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 21 / 34
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3.8 Specification for Internal Diagnostics

This modules 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 Resolution Full

Type Precision FS Notes
address bits reading
AI(+5V) IW112 5,0% 10 5V
AI(+12V) IW113 5,0% 10 23,5 V
AI(Vsupply) IW114 5,0% 10 46 V
VTEMP = 395 mV + (6,2 mV /
AI(TEMP) IW115 5,0% 10 5V
C x Temp C)

3.9 Closed Loops Wiring

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.

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3.10 I/O / IEC Map

+24V
INPUT OUTPUT
XM1.1 DI IX1.4 QX1.4 / QW104 DO / PWM XM1.1
XM1.2 DI IX1.5 QX1.5 / QW105 DO / PWM XM1.2
XM1.3 DI IX1.7 QX1.7 / QW107 DO / PWM XM1.3
XM1.4 DI IX1.6 QX1.6 / QW106 DO / PWM XM1.4
XM1.5 AI / FB IW101
XM1.6 AI / FB IW100
XM1.7 DI IX0.0 QX0.0 / QW116 DO / PWM XM1.7
XM1.8 DI IX0.1
+5V QX0.1 / QW117 DO / PWM XM1.8
XM1.9 GND GND XM1.9
XM1.10 GND GND XM1.10
XM1.11 GND +24V GND XM1.11
XM1.12 DI / AI IX3.4 / IW104
+24V XM1.13
XM1.14 DI IX0.3 QX0.3 / QW119 DO / PWM XM1.14
XM1.15 DI IX0.2 QX0.2 / QW118 DO / PWM XM1.15
U/I
XM1.16 DI IX1.3 QX1.3 / QW103 DO / PWM XM1.16
XM1.17 DI IX1.2 QX1.2 / QW102 DO / PWM XM1.17
XM1.18 DI IX0.12 QX0.8 DO XM1.18
XM1.19 DI IX0.8
XM1.20 DI IX0.9
XM1.21 DI IX0.13 QX0.9 DO XM1.21
XM1.22 DI IX1.1 QX1.1 / QW101 DO / PWM XM1.22
+24V
XM1.23 DI IX1.0 QX1.0 / QW100 DO / PWM XM1.23

XM2.1 DI IX1.13 QX1.13 / QW109 DO / PWM XM2.1

XM2.2 DI IX1.12 QX1.12 / QW108 DO / PWM XM2.2
XM2.3 AI / FB IW102
XM2.4 AI / FB IW103
XM2.5 DI IX1.11 QX1.11 / QW115 DO / PWM XM2.5
XM2.6 DI IX1.10 QX1.10 / QW114 DO / PWM XM2.6
XM2.7 DI IX1.9 QX1.9 / QW113 DO / PWM XM2.7
XM2.8 DI IX1.8 +5V QX1.8 / QW112 DO / PWM XM2.8
XM2.9 DI IX1.14 +24V QX1.14 / QW110 DO / PWM XM2.9
XM2.10 DI IX1.15 Power supply QX1.15 / QW111 DO / PWM XM2.10
for logic +24V XM2.11
XM2.12 DI / AI IX3.5 / IW105
XM2.13 GND GND XM2.13
XM2.14 GND GND XM2.14
XM2.15 GND GND XM2.15
XM2.16 DI IX0.5
U/I QX0.5 / QW121 DO / PWM XM2.16
XM2.17 DI IX0.4 QX0.4 / QW120 DO / PWM XM2.17
XM2.18 DI IX0.14 QX0.10 DO XM2.18
XM2.19 DI IX0.10
XM2.20 DI IX0.11
XM2.21 DI IX0.15 QX0.11 DO XM2.21
XM2.22 DI IX0.6 QX0.6 / QW122 DO / PWM XM2.22
XM2.23 DI IX0.7 +5V +12V QX0.7 / QW123 DO / PWM XM2.23

max total
+12V XM3.1
200mA
+5V XM3.2
XM3.3 GND GND XM3.3
XM3.4 GND GND XM3.4
+5V
XM3.5 DI / AI IX3.6 / IW106
XM3.6 DI / AI IX3.7 / IW107
U/I
XM3.7 DI / AI IX3.8 / IW108
XM3.8 DI / AI IX3.9 / IW109 +5V
+5V +12V XM3.9
max total +5V XM3.10
XM3.11 GND
U/I 250mA GND XM3.11
XM3.12 GND GND XM3.12
XM3.13 DI / AI IX3.10 / IW110
XM3.14 DI / AI IX3.11 / IW111
XM3.15 BSL
XM3.16 PI / DI IW152 / IX2.2
U/I
XM3.17 PI / DI IW151 / IX2.1
XM3.18 PI / DI IW155 / IX2.5
Supply +24 V

XM3.19 PI / DI IW154 / IX2.4

XM3.20 PI / DI IW153 / IX2.3
XM3.21 PI / DI IW157 / IX2.7
GND

XM3.22 PI / DI IW156 / IX2.6

XM3.23 PI / DI IW150 / IX2.0

XM4.2 CAN1 H +24V

XM4.3 CAN GND
XM4.4 +24V
XM4.6 CAN1 L
XM4.7 CAN2 H
XM4.8 CAN2 L
+24V
XM4.1 GND
XM4.5 +24V

AI = ANALOG INPUT DO = DIGITAL OUTPUT NOTE! All addresses expressed as Word addresses
DI = DIGITAL INPUT PWM = PULSE WIDTH MODULATIVE OUTPUT
PI = PULSE INPUT FB = FEEDBACK

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 23 / 34
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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.

8-pin AMPSEAL for power and system CAN connections

3 x 23-pin AMPSEAL for I/O
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
diameter range
mm2 AWG
0,5 20 1,7 5,1
0,8 18 to 5,1
1,4 16 2,7 5,1
AMP Procrimper 58529-1,
Typical hand crimping tool e.g.:
Epec ordering code TT0018

All applied cables should be properly shielded, bundled and grounded

See the General Mounting and Cabling Instructions for Epec Modules for more detailed
information about the cabling

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4 POWER SUPPLY
Nominal supply voltage 24 VDC
Operating range 1030 VDC
No saving operations (program flashing or parameter storing) into permanent memory can
be done under 11,5 VDC.
Undervoltage reset 9,5 VDC

4.1 Overvoltage Protection

Max. 70 VDC (Stresses above this value may cause permanent damage to the module.)
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
when supply voltage drops to 30 V.

4.2 Power Consumption

Approx. 1,8 W (+24 VDC, no external load)
Supply Voltage (VSUPPLY) maximum continuous current 13 A (with full external load)

4.3 Power Supply Pins

Connector /
Designation Potential
pin number
Supply voltage X4.4 +24 VDC (+1030 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 VSUPPLY / max 3 A
Internally regulated and monitored X3.1 +12 VDC / max 200 mA (max total
auxiliary supply for external devices X3.9 for all pins together)
Internally regulated and monitored X3.2 +5 VDC / max 250 mA (max total
auxiliary supply for external devices X3.10 for all pins together)
Ground X1.9 GND
X1.10
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.

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5 BUS CONNECTION

5.1 Bus Connection Pins

The CAN communication pins and the power supply are connected in the modules AMP8
connector as follows:

Designation Connector / pin number

CAN1 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,
X3.15
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 CAN1 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
For example CANopen, SAE J1939 or ISOBUS are
available for both CANs.

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 26 / 34
Epec CAN Module Family
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6 ENVIRONMENTAL CHARACTERS
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.

Operating temperature -40C +70C

Storage temperature -50C +85C

6.1 Protection
IP67 (classification according to IEC 60529)
Module is equipped with Oil Rating 7 (according to test method AATCC 118-1997ASTM)
hydrophobic and oleophobic Gore HPM Membrane Vent
Protection for plugs depends on cable processing
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)
Additional module cover for wires and connectors is also available (E10801109)

6.2 EMC Tests

Epec 4G modules are certified according to following tests:

ISO/DIS 14982 (1998)

Agricultural and forestry machines-electromagnetic compatibility-test methods and acceptance
criteria
Electrostatic discharge (ESD) immunity test Test method EN61000-4-2 (1995)
Performance criterion B

Discharge mode Test level (kVp)

Contact 2, 4, 6
Air 2, 4, 8

Transient and surges in vehicular Test method ISO 7637-2 (1990), pulse 5
environment immunity test Performance criterion B

Note: The Mini module (2038) and the Mini Pulse Pulse parameters
display (2029) need the Hub module (2021) 5 Us=+70V, tr=10ms, td=600ms
in order to have the full transient immunity.

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
fitted to a vehicle

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 27 / 34
Epec CAN Module Family
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Radiated disturbance emission test Test method 2005/83/EC, ANNEXES VII and
VIII

Frequency
Limit value (dBV/m)
(MHz)
62/52/63
30 1000
(Broadband QP)

52/42/53
30 1000
(Narrowband AVE)

Conducted disturbances emission test Test method 2005/83/EC, ANNEX X

Port Limit level (V)

+150
24 V DC input
-450

Immunity to transient disturbances Test method 2005/83/EC, ANNEX X

conducted along supply lines test Performance criterion:

Note: The Mini module (2038) and the Mini Pulse Criterion
display (2029) need the Hub module (2021) 1 C
in order to have the full transient immunity. 2a B
2b C
3a A
3b A
4 C

Pulse Pulse parameters

1 3/2000 s, -600 V, 1000 pulses
2a 1/50 s, +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

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 28 / 34
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Radiated radio-frequency electromagnetic Test method 2005/83/EC, ANNEX IX

field immunity test Performance criterion: No degradation of
Immunity-related functions

Frequency
Test
Specification Range
level
(MHz)
Modulation
AM80% 1 kHz
20-800 30 V/m
Sweep step 1%,
time/step 3s

PM
800-2000 30 V/m
577/4600s

EN 61000-6-3 (2001)
Electromagnetic compatibility-generic emission standard
part6-3: residential, commercial and light industry
Radiated disturbance emission test Test method EN 55022 (1994)

Note: The Color display (2040) needs extra Frequency Limit value
facilities in order to have the limit B Limit
(MHz) (dBV/m)
covered.
A 30 1000 40/47 (QP)

B 30 1000 30/37 (QP)

Conducted disturbance at main ports Test method EN 55022 (1994)

emission test
Frequency
Limit value (dBV)
(MHz)

0,15 - 30 66/56/60 (QP)

0,15 30 56/46/50 (AVE)

EN 61000-6-2 (2005)
Electromagnetic compatibility-generic immunity standard
part6-2: industrial environment

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 29 / 34
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Conducted radio-frequency common mode Test method EN 61000-4-6 (1996)

immunity test Performance criterion A

Specification Port Test level

Frequency range
0,150-80 MHz DC input
10 Vemf
Modulation port
AM80% 1 kHz
Sweep step 1%, Signal
10 Vemf
time/step 3s ports

Radiated radio-frequency electromagnetic Test method EN 61000-4-3

field immunity test Performance criterion A

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 method EN 61000-4-4 (1995)

test Performance criterion B

Test pulse Port Test level

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

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 Test method ANSI C63.4 and EN55022

Note: The Color display (2040) needs extra Frequency Limit value
facilities in order to have the class B Class
(MHz) (dBV)
covered.
A 30 1000 40/47 (QP)

B 30 1000 30/37 (QP)

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 30 / 34
Epec CAN Module Family
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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.

6.3 Environmental Tests

The following environmental tests have been performed to Epec 4G modules:

Temperature
Duration/
Test Temperature Exposure Remarks
time
Cold
IEC 60068-2-1, -45 C 16 h -
Test Ab
Dry heat
IEC 60068-2-2, 70 C 16 h -
Test Bb
Damp heat cycling
rel. humidity >90%
IEC 60068-2-30, +25 C/+55 C
six test cycles
Test Db
change time between
Change of temperature
extreme temperatures 1-2
IEC 60068-2-14, -50 C/+60 C 3h
min
Test Na
5 test cycles
Change of temperature change of temperature 10
IEC 60068-2-14, -40 C/+70 C 3h C/min
Test Nb 2 test cycles

Mechanical resistance
Duration and
Test Remark
direction
pulse duration 6
Shock/Bump test IEC ms half sine pulse shape
60068-2-27, and -29, 500 impulses in peak acceleration 500 m/s2
Tests Ea and Eb every six
directions
test duration 60
Vibration, random ASD-level 0,5 m2/s3, 10 200 Hz
min in every
IEC 60068-2-64, ASD-level 1,0 m2/s3, 200 500 Hz
three test
Test Fh total spectral acceleration 3,54 grms
direction

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
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2024 CONTROL MODULE 2024G08 / MAN000185

one fall /
Free fall,
direction
IEC 60068-2-32, fall height 100 cm
on each surface
Test Ed
and corner

Corrosion
Test Temperature Duration Concentration
Salt spray test
+35 C 24 h 50 g/l, NaCl
ISO 9227

Epec Oy reserves all rights for improvements without prior notice

Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
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2024 CONTROL MODULE 2024G08 / MAN000185

7 HOUSING
Closed light cast aluminium housing
Powder-painted, hexavalent chromium free passivation for aluminium
Puncture hole fastening

7.1 Mounting
2 pieces of M6 screws to DIN 912
If separate Epec module shock protection cover (E10801109) is mounted, it is recommended
to use Epec E10701038 fastening bolts
Mounting position horizontal or vertical to allow water etc. flowing away from connectors:

Module Mounting Mounting

position base base

Module
position

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

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
1.10.2008
2024 CONTROL MODULE 2024G08 / MAN000185

7.2 Unit Dimensions

147.00 mm

XM1 XM2
6,20 mm

113.00 mm

XM4 XM3
10.00 mm

136.00 mm

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

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120
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Epec CAN Module Family
1.10.2008
2024 CONTROL MODULE 2024G08 / 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
MAN000101 Mounting Instructions
modules
Programming instructions for CoDeSys 2.3
MAN000276 CoDeSys 2.3
environment (Note 1)
Programming instructions for CoDeSys 2.1
MAN000275 CoDeSys 2.1
environment
Instructions for programmers using Hardware
MAN000280 Hardware Library manual
Library
Instructions for programmers using CANopen
MAN000285 CANopen Library manual
Library

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

Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 111 www.epec.fi
FIN-60320 Seinjoki FIN-60120 Seinjoki, Finland +358-(0)6-2170 120