X90CP154.xx-00 en V1.02

X90CP154.
xx-00
Data sheet
1.02 (07.2024)
Translation of the original documentation

Publishing information / Disclaimer
Publishing information
B&R Industrial Automation GmbH
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5142 Eggelsberg
Austria
Telephone: +43 7748 6586-0
Fax: +43 7748 6586-26
[email protected]
Disclaimer
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1652015512331-1.02.1
Version history
B&R makes every effort to keep documents as current as possible. The most current versions are available
for download on the B&R website (www.br-automation.com).
2 X90CP154.xx-00 Data sheet V 1.02

General information
1 General information
1.1 Other applicable documents

For additional and supplementary information, see the following documents.
Other applicable documents

Document name Title
MAX90 X90 mobile system user's manual
1.2 Order data

Order number Short description Figure
X90 mobile control
X90CP154.60-00 X90 mobile controller, ARM Cortex A9-650, 256 MB DDR3
RAM, 32 kB FRAM, 4 GB flash memory, 1 POWERLINK to M12,
1 Ethernet 10/100BASE-T to M12, 3 CAN on CMC header, 1
LIN on CMC header, 1 RS232 on CMC header, 60 multifunc-
tion I/O, 1 sensor power supply, die-cast aluminum housing,
service access window, LED status indicators
Optional accessories
BreakOut Box
X90AC-BB.15-00 X90 mobile 150, breakout box for development and testing
CMC connector
X90TB150.02-00 X90 mobile 150, connector set for CMC header, with connec-
tor contacts and dummy plugs
Wire harness
X90CA150.02-00 X90 mobile 150, wiring harness starter set for X90CP15x, 2
m, for CMC header
Table 1: X90CP154.60-00 - Order data

Required accessories
For a general overview, see section "Accessories - Overview" in the X90 mobile system user's manual.
Information:
For the permissible temperature range for using the cables, see the data sheet.
Customized logos
The X90 mobile controller can be delivered with a customized logo instead of the B&R logo. For additional
information about the exact ordering procedure, please contact the local sales office.
Your logo could be here.
X90CP154.xx-00 Data sheet V 1.02 3

General information
Inputs and outputs - Overview

X90CP154.60-00 Output Input
Multifunction I/O channels Quantity PWM Digital Analog PVG signal Temper- Analog Countable Digital
ature
MF-PWM std 16 X X X
bridge 6 X X X
MF-DO 8 X X
MF-AI std 4 X X
AT 8 X X X
PVG 8 X X X X X
MF-DI std 2 X
CI 8 X X
1.3 Module description

The modular X90 mobile control and I/O system opens up a wide range of possibilities in mobile automa-
tion. With the X90 mobile system, flexible automation concepts can be implemented based on a standard-
ized complete system.
The heart of the X90 mobile system is a controller with a powerful ARM processor and up to 60 multifunction
I/O channels in a robust die-cast aluminum housing. Basic features include connections for LIN, CAN, USB,
Ethernet and the real-time POWERLINK bus system.
Functions
• Digital inputs
• Counter functions
• Edge detection
• Analog inputs
• Digital outputs
• PVG
• Pulse width modulation (PWM)
• Current measurement
• Temperature management
• Operating management
• Standby mode
• LIN interface
Digital inputs
The controller is equipped with 60 digital inputs for 1-wire connections. The digital inputs are designed for
sink and source circuits. All inputs are equipped with an input filter with a configurable input delay.
Counters and encoders
The controller provides counter functions for channels 1 to 8. If required, they can be latched and configured
for different counter or encoder functions depending on the channel. These include:
• AB encoder
• ABR encoders
• Up/Down counter
• Event counters
Edge counter
The controller is equipped with edge counters to evaluate positive or negative edges.
Analog inputs
The controller is equipped with 20 analog inputs with configurable measurement mode and input filters
for 1-wire connections. The input signal is monitored against the upper and lower limit values. Other limit
values can be defined if necessary.
Digital outputs
The controller is equipped with 8 digital outputs that can be additionally connected in parallel in pairs for
higher currents.

General information
PVG outputs
The controller is equipped with 8 PVG-capable outputs. These can be used to control special electrohy-
draulic valves.
PWM outputs
The controller is equipped with 22 PWM outputs. 6 of these outputs are PWM-capable power outputs in an
H bridge configuration. The power outputs in the H bridge configuration can be individually connected in
parallel
Current measurement
For the digital and PWM outputs, currents can be measured as instantaneous values, root mean square or
arithmetic mean values.
Temperature management
The temperature is measured on the controller at various points and provided as special data points.
Operating management
Special data points are available in Automation Studio for monitoring the operating parameters in the con-
troller. These include:
• Sensor and supply voltages
• Controller currents with overload monitoring
• Status bits for sensor power supply, output enable, ignition and enable relay
Standby mode
The controller can be set to sleep mode so that energy can be saved when the machines are at a standstill
for longer periods.
LIN interface
The Local Interconnect Network (LIN) bus is a serial communication system for networking sensors and
actuators used primarily in vehicles. It is an open standard and a cost-effective alternative to the CAN bus.

Technical description
2 Technical description
2.1 Technical data

Order number X90CP154.60-00
Short description
Interfaces 1x Ethernet/POWERLINK (switchable), 1x POWERLINK, 3x CAN bus, 1x LIN bus, 1x RS232, 1x USB
System module Controller
General information
Insulation voltage for GND and housing 500 Veff1)
B&R ID code 0x29AD
Cooling Fanless
Status indicators Controller function, operating mode, overtemperature, Ethernet, POWERLINK
Diagnostics
Module run/error Yes, using LED status indicator, software and diagnostic output
CPU function Yes, using LED status indicator
Ethernet Yes, using LED status indicator
Short circuit MF-DO and MF-PWM: Using software
Load break MF-DO and MF-PWM: Load break enabled: From the application
POWERLINK Yes, using LED status indicator
Overload MF-DO and MF-PWM: Using software
Overtemperature Yes, using software and LED status indicator
Support
Controller redundancy No
Storage health data support 2) Yes
ACOPOS support Yes
reACTION-capable I/O channels No
Visual Components support Yes
Power consumption 3) CPU at Ue = 9 / 32 V: 4.8 / 6.0 W
Certifications
CE Yes
UKCA Yes
Input power supply
Input voltage 9 to 32 VDC
Input voltage V_CPU, V_I/O 4)
Nominal voltage 12 V 9 to 16 VDC
Nominal voltage 24 V 16 to 32 VDC
Reset switching threshold 5.4 V
Input current
V_CPU During operation
Typ. 420 mA at 12 V
Typ. 240 mA at 24 V
In standby mode
Typ. 18 mA at 12 V
Typ. 13 mA at 24 V
V_I/O Max. 10 A per connection pin
Integrated protection
V_CPU No, required fuse 5 A slow-blow
V_I/O No, required fuse 10 A slow-blow per connection pin
Overvoltage 5) Max. 48 V
Overvoltage protection Load dump pulse A 202 V Ri = 4 Ω 6)
Reverse polarity protection 5) Max. -48 V
Controller
Real-time clock Resolution 1 s, retention min. 48 hours, typ. 250 hours at
25°C, precision ±30 ppm over the entire temperature range
FPU Yes
Processor
Type ARM Cortex-A9
Clock frequency 650 MHz
L1 cache
Data code 32 kB
Program code 32 kB
L2 cache 512 kB
Integrated I/O processor Processes I/O data points in the background
Option boards Not available
Remanent variables 32 kB FRAM, retention >10 years 7)
Shortest task class cycle time 400 µs
Table 2: X90CP154.60-00 - Technical data


Standard memory
RAM 256 MB DDR3 SDRAM
Application memory
Type 4 GB flash memory
Data retention 10 years
Writable data amount
Guaranteed 100 TB
Results for 5 years 54.8 GB/day
Guaranteed erase/write cycles 100,000
Error-correcting code (ECC) Yes
Interfaces
Interface IF1
Type RS232
Variant Connection on CMC header X1.A
Max. distance 3m
Transfer rate Max. 115.2 kbit/s
Interface IF2
Type Ethernet / POWERLINK 8)
Variant M12, D-coded
Line length Max. 100 m between 2 stations (segment length)
Transfer rate 10/100 Mbit/s
Transfer
Physical layer 10BASE-T/100BASE-TX
Half-duplex Yes
Full-duplex Yes
Autonegotiation Yes
Auto-MDI/MDIX Yes
Interface IF3
Fieldbus POWERLINK managing or controlled node 8)
Type Type 6 9)
Variant M12, D-coded
Line length Max. 100 m between 2 stations (segment length)
Transfer rate 100 Mbit/s
Transfer
Physical layer 100BASE-TX
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI/MDIX Yes
Interface IF4
Type USB 1.1/2.0
Variant Type A (under service access window)
Max. output current 500 mA
Interface IF5
Type LIN
Max. distance 40 m
Transfer rate Max. 20 kbit/s
Interface IF7
Connection designation CAN1
Type CAN bus
Max. distance 1000 m
Transfer rate Max. 1 Mbit/s
Terminating resistor External 120 Ω must be provided.
Interface IF8
Type CAN bus
Interface IF9
Type CAN bus


Multi-function inputs
Multifunction digital inputs MF-DI (std)
Quantity 2
Function Digital input
Sink/Source circuit - Configurable per channel, configurable software input filter
Multifunction digital inputs MF-DI (CI)
Quantity 8
Sink/Source circuit - Configurable per channel, configurable software input
filter, counter function up to 50 kHz counter frequency (max. 4x AB, max. 2x
ABR, max. 2x DF, max. 8x edge counter), edge detection with timestamp (for
period duration, gate time measurement, differential time measurement)
Multifunction analog inputs MF-AI (std)
Quantity 4
Sink/Source circuit - Configurable per channel, configurable software in-
put filter, fixed or ratiometrically configurable switching threshold.
Analog input
Measurement range 0 to 10 V / 0 to 32 V / 0/4 to 20 mA, configurable analog filter,
configurable ramp limit, configurable threshold values, integrated input protection
Multifunction analog inputs MF-AI (AT)
Quantity 8
Function Digital input (without diagnostics)
Digital input (with diagnostics)
Configurable software input filter, open-circuit and short-circuit detection.
Analog input
Measurement range 0 to 10 V / 0 to 32 V / 0/4 to 20 mA / 0 to 4000 Ω / tem-
perature inputs (Pt1000 characteristic curve), configurable analog filter, con-
figurable ramp limit, configurable threshold values, integrated input protection
Multifunction analog inputs MF-AI (PVG)
Quantity 8
Function Digital input (without diagnostics)
Digital input (with diagnostics)
Configurable software input filter, open-circuit and short-circuit detection.
Analog input
Measurement range 0 to 10 V / 0 to 32 V / 0/4 to 20 mA / 0 to 4000 Ω / tem-
perature inputs (Pt1000 characteristic curve), configurable analog filter, config-
urable ramp limit, configurable threshold values, integrated input protection
Ratiometric analog output (smoothed PWM signal)
Short-circuit current 5.5 mA max. at 24 V, PWM frequency 25 kHz
PVG
Short-circuit current 5.5 mA max. at 24 V, PVG frequency 25 kHz.
Multi-function outputs
Multifunction digital outputs (MF-DO)
Quantity 8
Functions Digital output:
4 A nominal current, source circuit, integrated output protection per chan-
nel, configurable overload monitoring per channel, central cutoff via relay,
parallel connection, current measurement, error state with configurable error filter.
Digital input:
Sink/Source circuit configurable per channel, configurable software input filter
Multifunction PWM outputs MF-PWM (std)
Quantity 16
Function Digital output
4 A nominal current, source circuit, integrated output protection per channel,
configurable overload monitoring per channel, central cutoff via relay,paral-
lel connection, current measurement, error state with configurable error filter.
PWM output
4 A nominal current, PWM frequency 15 Hz to 1 kHz, source circuit, integrated output protection
per channel, configurable overload monitoring per channel, central cutoff via relay, parallel con-
nection, current measurement, configurable switching edge shift to avoid load peaks, dither.
Digital input
Multifunction PWM outputs MF-PWM (bridge)
Quantity 6
Function Digital output
6 A nominal current, push-pull circuit, integrated output protection per chan-
nel, configurable overload monitoring per channel, central cutoff via relay,paral-
lel connection, current measurement, error state with configurable error filter.
PWM output
6 A nominal current, PWM frequency 15 Hz to 4 kHz, 8 kHz in full-bridge mode,
push-pull circuit, integrated output protection per channel, configurable over-
load monitoring per channel, central cutoff via relay, parallel connection, current
measurement, configurable load current distribution of the PWM outputs, dither.
Digital input


Digital inputs
Quantity 8 to 60, depends on the use of multifunction inputs/outputs
Nominal voltage 12 / 24 VDC
Input voltage 9 to 32 VDC
Input current at 24 VDC MF-DI (CI + std): Typ. 1.1 / 2.5 mA, configurable
MF-AI (AT + PVG): Typ. 1.1 / 5.3 mA, configurable
MF-AI (std): Typ. 1.1 mA
MF-DO (std): Typ. 2.5 mA
MF-PWM (all): Typ. 2.5 mA 10)
Input circuit Sink/Source, configurable
Input filter
Hardware MF-DI: 3 µs
MF-AI (all): 300 µs
MF-DO: 150 µs
MF-PWM (bridge): 200 µs
MF-PWM (std): 150 µs 11)
Software Default 1 ms, configurable between 0 and 25 ms in 0.1 ms increments
Input resistance MF-DI (CI + std): Typ. 9.15 / 20.2 kΩ, configurable
MF-AI (AT + PVG): Typ. 4.42 / 22.1 kΩ, configurable
MF-AI (std): Typ. 22 kΩ
MF-DO (std): Typ. 9.15 kΩ
MF-PWM (all): Typ. 9.15 kΩ
Input frequency MF-DI: Max. 50 kHz
Switching threshold MF-DI: 50% of supply voltage
MF-AI (all): Switching threshold and hysteresis configurable with software
MF-DO: 40% supply voltage
MF-PWM (all): 40% supply voltage
Analog inputs
Quantity 0 to 20, depends on the use of multifunction inputs
Input 0 to 10 V / 0 to 32 V / 0/4 to 20 mA / 0 to 4000 Ω /
Temperature inputs (Pt1000 characteristic curve)
Digital converter resolution 12-bit
Conversion time 160 μs
Output format
Data type INT
Voltage 0 to 10 V: INT 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 2.441 mV
0 to 32 V: INT 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 7.812 mV
Current 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 4.883 µA
Resistance 0 to 4000, resolution 1 Ω 12)
Temperature input -200 to 850, resolution 0.1°C
Input impedance in signal range
Voltage >100 kΩ
Current -
Measurement current resistance / Temperature <2.2 mA
input
Load
Voltage -
Current 100 Ω
Open-circuit detection From the application
Conversion procedure SAR
Input filter First-order low-pass filter / cutoff frequency of voltage input 350 Hz, current input 200 Hz
Max. error 13)
Voltage
Gain <1.5% 14)
Offset <1.5% 15)
Current
Gain <1.5% 14)
Offset <1.5% 16)
Resistance <5% 17)
Temperature input <5% 18)
Max. gain drift
Voltage <0.03%/°C 14)
Current <0.04%/°C 14)
Resistance <0.034%/°C 14)
Temperature input <0.024%/°C 14)
Max. offset drift
Voltage <0.06%/°C 15)
Current <0.06%/°C 16)
Resistance <0.018%/°C 17)
Temperature input <0.027%/°C 18)
Nonlinearity <0.05% (resistance)
<0.2% (temperature inputs)
Sensor power supply
Voltage 5/10 V 19)
Current Max. 400 mA ±3%


Digital outputs
Quantity 0 to 30, depends on the use of multifunction outputs
Variant MF-DO: Current-sourcing sinking FET, channels can be connected in parallel in pairs.
MF-PWM (bridge): Current-sourcing/Current-sinking FET, channels can be connected in parallel.
MF-PWM (std): Current-sourcing sinking FET, channels can be connected in parallel in pairs. 20)
Nominal output current MF-DO: 4 A
MF-PWM (bridge): 6 A
MF-PWM (std): 4 A
Output protection Thermal shutdown in the event of overcurrent or short circuit,
MF-PWM only (all): Integrated protection for switching inductances
Diagnostic status Overload
Leakage current when the output is switched MF-DO: Typ. 10 μA, max. 4.1 mA
off MF-PWM (bridge): Typ. 20 μA, max. 4.1 mA
MF-PWM (std): Typ. 10 μA, max. 4.1 mA
RDS(on) MF-DO: <80 mΩ
MF-PWM (all): <50 mΩ
Residual voltage <1 V at 4 A nominal current
Peak short-circuit current MF-DO: 90 A
MF-PWM (bridge): 50 A
MF-PWM (std): 90 A
Switching frequency
Resistive load MF-DO: Max. 250 Hz
Inductive load MF-DO: Load current 4 A: Max. 4 mH (see section "Switching inductive loads")
Braking voltage when switching off inductive MF-DO: Typ. 64 VDC
loads MF-PWM (std): Typ. 64 VDC
Switching delay MF-DO: Max. 150 μs
MF-PWM (all): Max. 150 μs
Output voltage
Nominal 9 to 32 VDC
Sampling time MF-DO: 160 μs
MF-PWM (bridge): 40 µs
MF-PWM (std): 80 μs
Current measurement
Current measurement range MF-DO: 0 to 20 A
MF-PWM (bridge): ±10 A
MF-PWM (std): 0 to 10 A
Resolution INT
MF-DO: INT 0x0000 to 0x7FFF / 1 LSB = 610 µA
MF-PWM (bridge): INT 0x8001 to 0x7FFF / 1 LSB = 305 μA
MF-PWM (std): INT 0x0000 to 0x7FFF / 1 LSB = 305 μA
Max. error at 25°C
Gain MF-DO: <12%
MF-PWM (bridge): <0.5%
MF-PWM (std): <3% 14)
Offset MF-DO: <1%
MF-PWM (bridge): <0.25%
MF-PWM (std): <1.5% 21)
Max. gain drift MF-DO: <0.2%/°C
MF-PWM (bridge): <0.04%/°C
MF-PWM (std): <0.2%/°C 14)
Max. offset drift MF-DO: <0.005%/°C
MF-PWM (all): <0.005%/°C 21)
PWM output
Quantity MF-PWM (bridge): 0 to 6x 6 A
MF-PWM (std): 0 to 16x 4 A
Depends on the use of multifunction outputs
Supply voltage (permissible range) 9 to 32 VDC
PWM frequency MF-PWM (bridge): 15 Hz to 4 kHz
MF-PWM (std): 15 Hz to 1 kHz
Duty cycle PWM (bridge): 0 to 32767 or -32767, min. resolution 160 ns depending on PWM frequency
PWM (std): 0 to 32767, min. resolution 160 ns depending on PWM frequency
Max. error at 25°C
Gain MF-PWM (bridge): <0.5%
MF-PWM (std): <3% 14)
Offset MF-PWM (bridge): <0.25%
MF-PWM (std): <1.5% 21)
Max. gain drift MF-PWM (bridge): <0.04%/°C
MF-PWM (std): <0.2%/°C 14)
Max. offset drift MF-PWM (all): <0.005%/°C 21)
Common mode error MF-PWM (all): 0.01%/V 21)
Output protection Thermal shutdown in the event of overcurrent or short cir-
cuit, integrated protection for switching inductive loads
Variant MF-PWM (bridge): Current-sourcing/Current-sinking FET, channels can be connected in parallel.
MF-PWM (std): Channels can be connected in parallel in pairs. 20)


Diagnostic status Overload
Peak short-circuit current 50 A (max. 0.2 ms)
Current measurement
Current measurement range MF-PWM (bridge): ±10 A
MF-PWM (std): 10 A
Conversion time MF-PWM (bridge): 40 μs
MF-PWM (std): 80 µs
Resolution INT
MF-PWM (bridge): INT 0x8001 to 0x7FFF / 1 LSB = 305 μA
MF-PWM (std): INT 0x0000 to 0x7FFF / 1 LSB = 305 μA
Electrical properties
Summation current
Complete system Max. 30 A
Inrush current Typ. 500 A for <300 µs
Electrical isolation Ethernet (IF2) and POWERLINK (IF3) isolated from each other and from other interfaces
Operating conditions
Mounting orientation
Any Yes
Installation elevation above sea level
0 to 2000 m No limitation
Degree of protection per EN 60529 IP69K 22)
Ambient conditions
Temperature
Operation
Horizontal mounting orientation -40 to 80°C housing surface
Vertical mounting orientation -40 to 80°C housing surface
Derating See section "Derating".
Storage -40 to 85°C
Transport -40 to 85°C
Relative humidity
Operation 5 to 100%, condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical properties
Dimensions
Width 225 mm
Length 219.5 mm
Height 43.5 mm
Weight Max. 1740 g
Brief overview
Content of delivery 2x protective covers for unused female M12 connectors

1) Connected to capacitors and 60 V VDR protective element.
2) For details about storage health data, see Automation Help.
3) Without USB
4) Always connect V_CPU and V_I/O to a common voltage source. Supplying from different voltage sources is not permitted.
5) Per ISO 15003:2019, tested for 5 minutes
6) V_CPU and V_I/O connected externally.
7) Configurable in Automation Studio.
8) For daisy-chain wiring of multiple controllers, interface IF2 can be defined in Automation Studio as a POWERLINK hub in parallel with interface IF3.
9) For additional information, see section "Communication / POWERLINK / General information / Hardware - IF/LS" in Automation Help.
10) Input current for MF-DI and MF-AI corresponds to the selected input resistance.
11) At switching threshold = 50% supply voltage
12) The values measured in the lower part of the measurement range are inaccurate due to the hardware; measurements in this range should therefore
be avoided.
13) At 25°C.
14) Based on the current measured value.
15) Based on the 10 V or 32 V measurement range.
16) Based on the 20 mA measurement range.
17) Based on the 4 kΩ measurement range.
18) Based on the maximum measurement range (-200 to 850°C).
19) At 10 V sensor power supply, the V_CPU power supply must be ≥12 VDC.
20) For additional information about the parallel connection, see section "Derating".
21) Based on the 20 A measurement range.
22) Applied only if mating connector (M12/CMC) connected or with M12 protective covers (0.6 Nm torque) and closed service access window.
Information:
The device has immunity-related functions in accordance with Regulation No. 10 of the
United Nations Economic Commission for Europe (UN/ECE).

2.2 LED status indicators

Figure LED Color Status Description
R/E Green On Application running
Blinking System startup:
The controller is initializing the application, all bus systems and
I/O modules.1)
Double flash System startup2) (during firmware update)1)
Red On Mode SERVICE2)
Blinking If LED "R/E" blinks red and LED "RDY/F" blinks yellow, a license violation has
occurred.
Double flash System startup: Installation error3)
R/E
RDY/F
RDY/F Yellow On Mode SERVICE2) or BOOT2)
S/E Blinking If LED "RDY/F" blinks yellow and LED "R/E" blinks red, a license violation has
PLK occurred.
ETH S/E Green/Red Status/Error LED, see "LED "S/E" (status/error LED)" on page 12.
PLK Green On The link to the POWERLINK remote station is established.
Blinking The link to the POWERLINK remote station is established. The LED blinks
when POWERLINK activity is taking place on the bus.
ETH Green On The link to the Ethernet remote station is established.
Blinking The link to the Ethernet remote station is established. The LED blinks if Eth-
ernet activity is taking place on the bus.
1) This procedure can also take several minutes depending on the configuration.
2) The operating states are described in "Real-time operating system - Method of operation - Operating states" in Automation Help.
3) The project installation (initial installation or update) via USB flash drive was aborted with an error.
2.2.1 LED "S/E" (status/error LED)
This LED is a green/red dual LED and indicates the state of the POWERLINK interface. The LED states have
a different meaning depending on the operating mode of the POWERLINK interface.
2.2.1.1 Ethernet mode
In this mode, the interface is operated as an Ethernet interface.

LED "S/E"
Green Red Description
On Off The interface is operated as an Ethernet interface.

2.2.1.2 POWERLINK V2 mode
Error message
LED "S/E"
Off On The interface is in error mode (failed Ethernet frames, increased number of collisions on the network, etc.).
Note:
Several red blinking signals are displayed immediately after the device is switched on. These are not errors, however.
Blinking On If an error occurs in the following modes, then the green LED blinks over the red LED:
• PRE_OPERATIONAL_1
• PRE_OPERATIONAL_2
• READY_TO_OPERATE
Status
green
t
Error
red
t
LED "S/E"
Interface status
LED "S/E"
Off Off Mode: NOT_ACTIVE
The interface is either in mode NOT_ACTIVE or one of the following modes or errors is present:
• The device is switched off.
• The device is in the startup phase.
• The interface or device is not configured correctly in Automation Studio.
• The interface or device is defective.
Managing node (MN)

The network is monitored for POWERLINK frames. If a frame is not received within the configured time window (time-
out), the interface immediately enters mode PRE_OPERATIONAL_1.
If POWERLINK communication is detected before the time has elapsed, however, the MN is not started.
Controlled node (CN)

The network is monitored for POWERLINK frames. If a frame is not received within the configured time window (time-
out), the interface immediately enters mode BASIC_ETHERNET. If POWERLINK communication is detected before this
time expires, however, the interface immediately enters mode PRE_OPERATIONAL_1.
Flickering Off Mode: BASIC_ETHERNET
(approx. The interface is in mode BASIC_ETHERNET. The interface is operated in Ethernet mode.
10 Hz)
Managing node (MN)
This mode can only be exited by resetting the controller.

If POWERLINK communication is detected during this mode, the interface enters mode PRE_OPERATIONAL_1.
Single flash Off Mode: PRE_OPERATIONAL_1
(approx. 1 Hz) The interface is in mode PRE_OPERATIONAL_1.
Managing node (MN)

The MN is in "reduced cycle" mode. The CNs are configured in this mode.
Cyclic communication is not yet taking place.

The CN can be configured by the MN in this mode. The CN waits until it receives an SoC frame and then switches to
mode PRE_OPERATIONAL_2.
On Controlled node (CN)
If the red LED lights up in this mode, this means that the MN has failed.
Double flash Off Mode: PRE_OPERATIONAL_2
(approx. 1 Hz) The interface is in mode PRE_OPERATIONAL_2.
Managing node (MN)

The MN starts cyclic communication (cyclic input data is not yet evaluated).
The CNs are configured in this mode.

The CN can be configured by the MN in this mode. A command then switches the mode to READY_TO_OPERATE.

LED "S/E"
Triple flash Off Mode: READY_TO_OPERATE
(approx. 1 Hz) The interface is in mode READY_TO_OPERATE.
Managing node (MN)

Cyclic and asynchronous communication. Received PDO data is ignored.

The configuration of the CN is completed. Normal cyclic and asynchronous communication. The transmitted PDO data
corresponds to the PDO mapping. However, cyclic data is not yet evaluated.
On Off Mode: OPERATIONAL
The interface is in mode OPERATIONAL. PDO mapping is active and cyclic data is evaluated.
Blinking Off Mode: STOPPED
(approx. The interface is in mode STOPPED.
2.5 Hz)
Managing node (MN)
This mode does not occur for the MN.

Output data is not being output, and no input data is being provided. This mode can only be reached and exited by a
corresponding command from the MN.
Blink times
Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms
2.2.2 System stop error codes
A system stop error can occur due to incorrect configuration or defective hardware.
The error code is indicated by LED "S/E" blinking red. The blinking signal of the error code consists of 4
switch-on phases with short (150 ms) or long (600 ms) duration. The error code is repeated every 2 seconds.
RAM error
150 300 150 300 150 300 600 2000
Hardware error
600 300 150 300 150 300 600 2000 All times in ms
Error Error description

RAM error The device is defective and must be replaced.
Hardware error The device or a system component is defective and must be replaced.

2.3 Dimensions
43.5 mm
225 mm
189.7 mm
219.5 mm
203.7 mm
189.9 mm
Use the appropriate M6 screws to secure the controller into position.
Information:
M6 screws are not included in delivery.
2.4 Operating and connection elements
IF4 - USB
IF3 - POWERLINK
IF2 - Ethernet
I/O
I/O - CAN bus - LIN bus - RS232

2.4.1 Reset button
Reset button
The reset button is located behind the service access window.

To remove this, place a coin in the intended slot and turn counterclockwise until the orange and blue mark-
ings in the following image overlap. Tilt the coin to remove the cover.
To secure the service access window again, connect it to the X90 mobile system again and turn it clockwise
with a coin until the markings on the cover point to the markings on the housing.
The button must be pressed for less than 2 seconds to trigger a reset. This triggers a hardware reset on
the controller, which means that:
• All application programs are stopped.
• All outputs are set to zero.
The controller then boots into service mode by default. The boot mode that follows after pressing the reset
button can be defined in Automation Studio.
• Service mode (default)
• Warm restart
• Cold restart
• Diagnostic mode
Information:
The reset button function can also be triggered by using the "Mode" connection (X1.A.D2).
2.4.2 Flash drive
This application memory is implemented as an integrated flash drive.
2.4.3 Project installation
Project installation is described in "Project management - Project installation" in Automation Help.

2.4.4 Data / Real-time clock buffering
The controllers have no battery and are maintenance-free. Eliminating the backup battery was made pos-
sible by the following measures:
Data and real-time clock buffering Type of buffering Note
Remanent variables FRAM This FRAM stores its contents ferroelectrically. Unlike normal SRAM, this
does not require a battery.
Real-time clock Gold foil capacitor The real-time clock is backed up by a gold foil capacitor. The gold foil capac-
itor is charged via the I/O power supply (V_I/O) and is fully charged after a
continuous operating time of 3 hours.
2.4.5 Ethernet interface
Pinout
Interface Pinout
Pin Name Assignment
1 Tx+ Transmit data +
2 Rx+ Receive data+
3 Tx- Transmit data-
4 Rx- Receive data -
2.4.6 POWERLINK interface
Pinout
Interface Pinout
Pin Name Assignment
1 Tx+ Transmit data +
2 Rx+ Receive data+
3 Tx- Transmit data-
4 Rx- Receive data -

2.4.7 USB interface
USB
Interface IF4 is a non-galvanically isolated USB interface. The connection is made via a USB interface
(1.1/2.0).
Information:
USB peripheral devices can be connected to the USB interfaces. Automation Runtime sup-
ports a selection of USB peripheral devices. For the supported USB classes, see the AR help
documentation.
Information:
The following must be taken into account when using a USB peripheral device and grounded
controller power supply (PELV):
• Only USB peripheral devices with no connection between GND and ground are permit-
ted to be connected. This is the case, e.g. with the USB dongle from B&R.
Only the following file formats are supported for USB storage devices:
• FAT12
• FAT16
• FAT32
Access to NTFS file formats is NOT supported!

2.4.8 CMC multi-header
For additional information, see section "Accessories - Multi-connector accessories" in the X90 user's man-
ual.
2.4.8.1 Pinout
The CMC multi-header consists of 2 connectors: X1.A and X1.B.

X1.A X1.B
CMC header X1.A - Brown

Pinout
Pin 1) Name Channel/Information
A1 LIN bus -
B1 CAN1 CAN1_L
C1 CAN1 CAN1_H
D1 CAN3 CAN3_L
E1 CAN3 CAN3_H
F1 MF-DI (CI) 1
G1 MF-DI (CI) 3
H1 MF-AI (AT) 14
J1 MF-PWM (std) 4 A 48
K1 MF-PWM (std) 4 A 49
L1 MF-PWM (bridge) 6 A 44
M1 MF-PWM (std) 4 A 50
A2 Status -
B2 CAN2 CAN2_L
C2 CAN2 CAN2_H
D2 Mode -
E2 Sensor power supply 5 V / 10 V
F2 MF-DI (CI) 2
G2 MF-DI (CI) 4
H2 MF-AI (AT) 15
J2 MF-AI (AT) 17
K2 Ignition -
L2 GND -
M2 MF-PWM (bridge) 6 A 43
A3 MF-DO (std) 4 A 33
B3 MF-AI (std) 27
C3 Enable signal -
D3 MF-AI (AT) 11
E3 MF-AI (AT) 12
F3 MF-AI (AT) 13
G3 Analog GND -
H3 MF-AI (AT) 16
J3 MF-AI (AT) 18
K3 Controller power supply V_CPU
L3 I/O power supply V_I/O
M3 MF-PWM (std) 4 A 51
B4 MF-DO (std) 4 A 31
C4 MF-DO (std) 4 A 34
D4 MF-DI (std) / RS232 9 / RS232_TXD
E4 MF-DI (std) / RS232 10 / RS232_RXD
F4 MF-AI (std) 28
G4 MF-PWM (std) 4 A 47
H4 MF-PWM (std) 4 A 46
J4 MF-PWM (std) 4 A 52
K4 MF-PWM (std) 4 A 45
L4 GND -
M4 I/O power supply V_I/O
1) Bold = CP 1.5 terminal; otherwise, CP 0.6 terminal.

For details, see "Maximum load and line cross sections" on page 35.

CMC header X1.B - Black

Pinout
Pin 1) Name Channel/Information
B1 MF-PWM (std) 4 A 60
C1 MF-PWM (std) 4 A 59
D1 MF-PWM (std) 4 A 58
E1 MF-PWM (std) 4 A 54
F1 MF-PWM (std) 4 A 53
G1 I/O power supply V_I/O
H1 MF-PWM (bridge) 6 A 42
B2 MF-AI (PVG) 19
C2 MF-AI (PVG) 22
D2 MF-AI (std) 29
E2 MF-AI (PVG) 23
F2 MF-AI (PVG) 26
G2 MF-PWM (bridge) 6 A 41
B3 MF-AI (PVG) 20
C3 MF-DI (CI) 5
D3 MF-DI (CI) 7
E3 MF-AI (PVG) 24
F3 MF-AI (std) 30
G3 GND -
H3 MF-PWM (bridge) 6 A 40
B4 MF-AI (PVG) 21
C4 MF-DI (CI) 6
D4 MF-DI (CI) 8
E4 MF-AI (PVG) 25
F4 MF-PWM (std) 4 A 55
G4 MF-PWM (bridge) 6 A 39
1) Bold = CP 1.5 terminal; otherwise, CP 0.6 terminal.

For details, see "Maximum load and line cross sections" on page 35.

2.4.8.2 Interfaces and control/status pins
The interface and control/status pin connections are implemented on CMC multi-header X1.A.
2.4.8.2.1 CAN bus
Pin Channel
CAN1
B1 CAN_L
C1 CAN_H
CAN3 CAN2
CAN2 B2 CAN_L
CAN1 C2 CAN_H
CAN3 1)
D1 CAN_L
E1 CAN_H
1) The connection can be used as a wake-up source (see "Standby mode" on page 63).
2.4.8.2.2 LIN interface
Pin Channel
A1 LIN bus
LIN
2.4.8.2.3 RS232 interface
Pin Channel
D4 RS232 TxD
E4 RS232 RxD
RS232

2.4.8.2.4 Control and status pins
The controller is equipped with 3 special digital inputs that can be used to influence the behavior of the
controller as well as a digital output for status and diagnostic information from the controller.
Pin Direction Channel
K2 Input Ignition
C3 Input Enable signal
Enable
D2 Input Mode
Mode
A2 Output Status
Status
Ignition
2.4.8.2.4.1 Ignition
A digital input (K2) is available on the X90 mobile system that allows the controller to respond using soft-
ware when the vehicle ignition is switched on or off. This connection is optional and can be wired via the
ignition (terminal 15), wired permanently to the power source or not wired, depending on the application.
2.4.8.2.4.2 Enable signal

The enable signal (C3) must be wired externally to the I/O supply voltage.
If the enable signal is interrupted, then the power supply for the power outputs is cut off.
2.4.8.2.4.3 Mode
Mode (D2) is functionally identical to pressing the reset button (see "Reset button" on page 16). The CPU
or I/O voltage should be applied as the reference voltage. If not used, the connection must be connected
to GND.
2.4.8.2.4.4 Status
The status (A2) can be used to connect an external LED (max. 20 mA) that can be used as a status indicator
or for diagnostics. For the connection, see "Power supply" on page 24.
LED status indicators Explanation
Off Application running
Blinking (1 Hz) System startup:
The controller is initializing the application, all bus systems and I/O modules.
Blinking (10 Hz) Overtemperature or overvoltage
Flashing Standby mode
Double flash System startup (during firmware update)1)
On2) Mode SERVICE or FAILSAFE3)
1) This procedure can also take several minutes depending on the configuration.
2) On system startup, it lights up for about 1 second at the beginning, but this is not an error message.
3) The operating states are described in "Real-time operating system - Method of operation - Operating states" in Automation Help.
Blink times
Double flash
Blinking 1 Hz
Blinking 10 Hz.
1s 1s
Flashing
5s

2.5 Block diagram
ECU
V_CPU
To the
A/D converter
5/10 V Sensor Power
sensor power supply power supply supply
1 to 8 MF-AI (AT)
1 to 8 MF-AI (PVG)
1 to 4 MF-AI (std)
1 to 8 MF-DI (CI)
1 to 2 MF-DI (std)
RS-232
Vcc
Mode
Status Reset controller
Ignition
To the
V_Relay
A/D converter
Enable signal
To the CAN1
A/D converter CAN2
V_I/O CAN3
V_I/O CPU
V_I/O LIN
Ethernet
1 to 8 MF-DO (std) POWERLINK
1 to 16 MF-PWM
(std)
1 to 6 MF-PWM
(bridge)
RTC
GND To the Vcc
A/D converter
GND
GND
USB LED Reset
Analog GND status indicators

2.5.1 Power supply
ECU
5 A slow-blow V_CPU A: K3
1 A slow-blow
1) A: D2
Mode
2) A: A2
Status
1 A slow-blow
A: K2
3) 15 Ignition
1 A slow-blow
A: C3
4) Approval
10 A slow-blow V_I/O A: L3
10 A slow-blow V_I/O A: M4
10 A slow-blow V_I/O B: G1
30
12/24 V
31 GND A: L2
GND A: L4
GND B: G3
Analog GND A: G3
1) Set connection to GND if the function is not used

2) Wiring with LED and resistor; connection is permitted to remain open.
3) Ignition (optional)
4) Central cutoff (optional)
For additional details, see "External fuse protection" on page 34 and "Fuse protection for lines" on page
34.
Notice!
National regulations must also be observed with the fuse protection and wiring of the de-
vice. In addition, it must be ensured when working on the device or the wiring that the en-
tire device is disconnected from the power supply.

2.5.2 Input circuit diagram
2.5.2.1 Multifunction digital input MF-DI (CI) / MF-DI (std)
Source configuration / Current-sinking
ECU
V_CPU
R 1)
DI SP 2)
10 nF
GND
1) Resistance according to the configuration

2) Signal processing
Sink configuration / Current-sourcing
ECU
V_CPU
SP 1)
DI
10 nF R 2)
2.5.2.2 Multifunction analog input MF-AI (AT) / MF-AI (PVG) / MF-AI (std)
Digital input source configuration / Current-sinking
ECU
V_CPU
R 1)
AI SP 2)
10 nF
GND


Digital input sink configuration / Current-sourcing
ECU
V_CPU
SP 1)
AI
10 nF R 2)
Diagnostics-capable voltage input

MF-AI (AT) and MF_AI (PVG) only.
ECU
V_CPU
R 1)
AI SP 2)
1 kΩ
10 nF
10 kΩ
GND

Diagnostics-capable current input

ECU
5 V 1)
1 kΩ
10 kΩ
SP 2)
AI
10 nF
1) Sensor power supply 5 V


Voltage input
ECU
AI
SP 2)
1) 10 nF
Analog GND
1) Voltage source 0 to 10/32 V

Current input
ECU
AI
SP 2)
1) 10 nF
Analog GND
1) Current source 0/4 to 20 mA

Resistance and temperature measurement

Information:
The sensor power supply must be configured to 10 V to ensure functionality.
ECU
10 V 1)
t
2)
AI SP 3)
10 nF

2) Pt1000 temperature sensor (Pt1000 characteristic curve), 0 to 4 kΩ

2.5.2.3 MF-DO multifunction output (std): Digital input
ECU
V_I/O
Relay active
DO → DI 1) SP 2)
22 nF
GND
1) MF-DO configured as digital input

ECU
V_I/O
SI 3)
MF-DO (std)
MF-PWM (std)
Relay active CI 4)
MF-PWM (bridge)
Not DO 1)
permitted
SP 5)
DO → DI 2)
22 nF
1) MF-DO configured as digital output (permanently on)

2) MF-DO configured as digital input (current-sourcing)
3) Status information
4) Current information
Information:
It is important to note that in the event of power failure or if the enable relay is cut off, then
the power supply for the sensor is also cut off. This is because the controller is provided
with a power supply via the freewheeling diode, which means the enable relay is bridged.
For this reason, current-sourcing inputs must be supplied via an output (MF-DO or MF-
PWM).

2.5.2.4 MF-PWM multifunction output (std): Digital input
ECU
V_I/O
Relay active
PWM → DI 1) SP 2)
22 nF
GND
1) MF-PWM configured as digital input

ECU
V_I/O
SI 3)
MF-DO (std)
MF-PWM (std)
Relay active CI 4)
MF-PWM (bridge)
Not PWM → DO 1)
permitted
SP 5)
PWM → DI 2)
22 nF
1) MF-PWM configured as digital output (permanently on)

2) MF-PWM configured as digital input (current-sourcing)

2.5.2.5 MF-PWM multifunction output (bridge): Digital input
ECU
V_I/O
Relay active
PWM → DI 1) SP 2)
22 nF
GND
1) MF-PWM configured as digital input

ECU
V_I/O
SI 3)
MF-DO (std)
MF-PWM (std)
Relay active CI 4)
MF-PWM (bridge)
Not PWM → DO 1)
permitted
SP 5)
PWM → DI 2)
22 nF
1) MF-PWM configured as digital output (permanently on)

2) MF-PWM configured as digital input (current-sourcing)
Information:
the power supply for the sensor is also cut off. This is because the controller is provided
with a power supply via the freewheeling diode, which means the enable relay is bridged.
For this reason, current-sourcing inputs must be supplied via an output (MF-DO or MF-
PWM).

2.5.3 Output circuit diagram
2.5.3.1 MF-DO multifunction output (std): Digital output
Source circuit
ECU
V_I/O
Relay active CI 1)
DO SI 2)
22 nF
3)
GND
3) See section "Switching inductive loads".
2.5.3.2 MF-PWM multifunction output (std)
Source circuit
ECU
V_I/O
Relay active
PWM SI 1)
22 nF
GND
CI 2)

2.5.3.3 PWM multifunction output (bridge): PWM output
Source circuit
ECU
V_I/O
Relay active
PWM SI 1)
22 nF
GND
CI 2)
Sink circuit
ECU
V_I/O
SI 3)
MF-DO (std)
MF-PWM (std)
Relay active CI 4)
MF-PWM (bridge)
DO 1)
PWM 2) SI 3)
22 nF
CI 4)
1) Load output power supply (permanently on)

2) Active freewheeling low-side output (load connected to output power supply)
Information:
the power supply for the actuator is also cut off. This is because the module is supplied
with power via the freewheeling diode, which means the enable relay is bridged. For this
reason, current-sourcing inputs must be supplied via an output (MF-DO or MF-PWM).

H bridge wiring
ECU
V_I/O
Relay active
PWM SI 1)
22 nF
M CI 2)
PWM SI 1)
22 nF
CI 2)
2.5.3.4 MF-AI multifunction analog output (PVG)
PVG signal output
ECU
V_CPU
SI 1)
AI SP 2)
22 nF
GND

Ratiometric analog output (smoothed PWM signal)
ECU
V_CPU
AI SP 1)
22 nF 1 µF
GND
2.5.4 External fuse protection
The power supply lines and power outputs must be protected by suitable circuit breakers or melting fuses
(line protection).
Connector Pin Description Fuse protection
C3 Enable signal 1A
K2 Ignition 1A
X1.A K3 Controller power supply 5A
L3 I/O power supply 10 A
M4 I/O power supply 10 A
X1.B G1 I/O power supply 10 A
2.5.5 Fuse protection for lines
The maximum permissible currents and voltages of all components within the system are not permitted
to be exceeded, e.g. current and voltage carrying capacities of the lines or cables, contacts of the CMC
multi-header, etc.
To avoid overloading the lines/cables and contacts on the CMC multi-header, all lined must be dimensioned
according to "Maximum load and line cross sections" on page 35. For the maximum permissible load
carrying capacities of the connector pins and mating connector, see the user's manual or the component
manufacturer's data sheets.
The power supply and GND lines must be connected to the remote stations as short as possible. This is
the only way to ensure safe operation under the maximum permissible operating conditions and to keep
voltage drops that occur as low as possible.
All GND lines should be connected to avoid overloads.
Notice!
The line impedances (line lengths, line cross-sections) and fuses must be selected in such
a way that rapid tripping of the fuse is ensured in the event of fault.
Information:
It must be ensured that the lines cannot be overloaded in the event of fault. See "Maximum
load and line cross sections" on page 35.

2.5.5.1 Line symmetry
Analog inputs
The following conditions must be met in order to achieve the greatest possible measurement accuracy
when recording analog measured values:
• The analog GND connection must be routed separately from the GND connections.
• In the best case, each signal line to be measured should have its own reference signal line.
• The signal and reference signal line (e.g. GND) must be as symmetrical as possible (length, cross sec-
tion, etc.).
Input and output lines
A separate GND connection should be used for each power supply line.
2.5.5.2 Maximum load and line cross sections
The following parameters must be taken into account when selecting the line cross sections used:
CMC header Maximum load Smallest diameter Largest diameter
of the contacts [mm2] [AWG] [mm2] [AWG]
CP 0.6 terminal 5A 0.35 20 0.75 18
CP 1.5 terminal 10 A 0.5 16 2 24

2.6 Switching inductive loads (MF-DO)
500 100 H 10 H 100 H 500 100 H 10 H 100 H 1H

10 H
1H
10 H
0.1 H
1H
0.1 H
100 1H 100
0.01 H
0.1 H
0.01 H
Coil resistance 0.1 H Coil resistance
[ohm] [ohm] Coil inductance
Coil inductance
0.01 H
10 0.01 H 10
32 V 32 V
9V 9V
1 1
0.1 1 10 100 0.1 1 10 100
Max. switching cycles / second Max. switching cycles / second
(at 90% duty cycle) (at 90% duty cycle)
1 output per IC, simultaneous switching All outputs simultaneous switching
Notice!
Possible defect on the output
Exceeding the maximum permissible inductive loads according to the diagram is only per-
mitted if an appropriate external protective circuit (freewheeling diode) has been imple-
mented.
Notice!
Avoiding damage due to voltage feedback
When using current-sourcing sensors or actuators, the power must be supplied via a DO
channel.

2.7 Derating
2.7.1 MF-PWM (bridge)
MF-PWM output
These outputs are implemented as push-pull or "active clamp" outputs. The advantage of these drivers is
the reduced power dissipation when switching inductive loads.
Only consecutive outputs can be configured for parallel operation (e.g. 2, 3, 4). When used as an input, the
driver is switched to a high resistance level (default).
MF-PWM output:
Output current = [1000 / PWM frequency (Hz)] * Nominal output current
With parallel connection:
PWM frequency (Hz) = 3000 / Maximum current per output
30
20
connected in parallel
Number of outputs
10
load current [A]
Maximum
6
1 output
6
4
3
1
100 1000 4000
PWM frequency [Hz]

2.8 Inrush current

If the X90 mobile system is supplied with power from a power supply unit instead of a battery, it is impor-
tant to ensure sufficient support capacity of ≥ 4700 µF.
The reason for this is that a buffer capacitor is charged when the relay is switched on, which can result in
a voltage dip of <1 ms.
The X90 mobile system is not affected by this. This can have a negative influence on other components
using the same power supply, however.
Power supply of ECU

additional devices
V_I/O
Ipk
30 Buffer capacitor
Power supply unit /
Battery Vdrop
31 GND
GND
Distribution terminal block
Sensor/Actuator GND
2.9 Behavior at motor startup
Information:
The functionality of the controller depends on the battery state of the vehicle and can
therefore not be ensured during motor startup.
2.10 Input overvoltage

Inputs V_CPU and V_I/O are monitored:
• If the input voltage rises above 36 V, all outputs are cut off. The controller and inputs remain active.
• If the input voltage falls below 36 V again, the outputs are automatically switched on again.

Function description
3 Function description
3.1 Multifunction I/Os

The X90CP154 is equipped with 60 multifunction I/Os:
• 10x MF-DI
° 8x MF-DI (CI): Digital inputs (countable)
° 2x MF-DI (std): Digital inputs
• 20x MF-AI
° MF-AI (AT): Analog/Digital inputs, temperature
° MF-AI (PVG): Analog/Digital inputs, temperature, PVG/PWM
° MF-AI (std): Analog/Digital inputs
• 8x MF-DO: Digital outputs
• 22x MF_PWM
° MF-PWM (bridge): PWM (H bridge), digital outputs
° MF-PWM (std): PWM, digital outputs
Overview of possible functions on the channels
Channels Digital Digital Digital Analog PWM PVG Current mea-
inputs inputs outputs inputs surement
(countable)
1 to 8 X
9 to 10 X
11 to 18 X X
19 to 26 X X X
27 to 30 X X
31 to 38 X X X
39 to 44 X X X X
45 to 60 X X X X
For the exact pinout of the channels on the CMC multi-header, see "Pinout" on page 19.
3.1.1 MF-DI (CI): Digital inputs (countable)
Channels 1 to 8 can only be used as digital inputs with counting capability.

Functions
• Digital input, configurable in 4 ways
- Sink/Source configuration
- High/Low resistance
• Counter input
- Maximum input frequency 50 kHz
- Measurement of positive and/or negative edges possible
- AB(R), AB and DF counters
- Period duration and gate measurement
Values Information
0 Off (default)
30 Digital input, source configuration, low resistance
32 Digital input, source configuration, power-saving (high resistance)
40 Digital input, sink configuration, low resistance
42 Digital input, sink configuration, power-saving (high resistance)

3.1.2 MF-DI (std): Digital inputs
Channels 9 to 10 can only be used as digital inputs.

Functions
Values Information
0 Off (default)
30 Digital input, source configuration, low resistance
32 Digital input, source configuration, power-saving (high resistance)
Information:
These two channels are not available when using the RS232 interface.
3.1.3 MF-AI (AT): Analog/Digital inputs, temperature
Channels 11 to 18 can be configured as both digital inputs as well as analog inputs.

Functions
• Analog input
- Voltage measurement range from 0 to 10 V or 0 to 32 V
- Current measurement range from 0 to 20 mA or 4 to 20 mA
- Resistance measurement from 0 to 4 kΩ
- Temperature measurement -200 to 850°C (Pt1000 characteristic curve)
- Diagnostics for current/voltage measurement
Values Information
0 Off (default)
50 Digital input with voltage measurement diagnostics
51 Digital input with current measurement diagnostics
61 Digital input in source configuration, low resistance
62 Digital input in source configuration, power-saving (high resistance)
80 Analog input 0 to 10 V
82 Analog input 0 to 20 mA
85 Temperature measurement
86 Analog input 0 to 4000 Ω

3.1.4 MF-AI (PVG): Analog/Digital inputs, temperature, PVG/PWM
Channels 19 to 26 can be configured as both digital or analog inputs as well as PVG-capable outputs.
Functions
• Analog input
- Resistance measurement from 0 to 4 kΩ
- Temperature measurement -200 to 850°C (Pt1000 characteristic curve)
- Diagnostics for current/voltage measurement
• PVG output
- Proportional valve control
- Frequency 25 kHz
- Supported types PVEA, H, S
• Analog output
Values Information
0 Off (default)
50 Digital input with voltage measurement diagnostics
51 Digital input with current measurement diagnostics
61 Digital input in source configuration, low resistance
85 Temperature measurement
86 Analog input 0 to 4000 Ω
100 PVG
101 Analog output (ratiometric)
3.1.5 MF-AI (std): Analog/Digital inputs
Channels 27 to 30 can be configured as both digital inputs as well as analog inputs.

Functions
• Analog input
Values Information
0 Off (default)

3.1.6 MF-DO: Digital outputs
Channels 31 to 38 can be configured as both digital inputs and digital outputs.

Parallel connection is possible when configured as a digital output.
A maximum of 2 adjacent outputs are permitted to be connected in parallel on the outputs (1 main output,
1 parallel output). In addition, only uneven channel numbers can be main outputs. Parallel connections are
not possible via inputs.
Functions
• Digital output
- Channels can be connected in parallel in pairs.
Values Information
0 Off (default)
1 Digital output
20 Digital output, parallel to previous channel1)
31 Digital input, source circuit
41 Digital input, sink circuit
1) Only for channels with an even channel number
3.1.7 MF-PWM (bridge): PWM (H bridge), digital outputs
Channels 39 to 44 can be configured as both digital or analog inputs as well as PWM-capable power outputs.
Parallel connection is possible when configured as a digital output. A parallel connection is only possible
with adjacent outputs. This approach begins with the pin with the smallest number.
The output information is always used by the main output and all outputs connected in parallel. Parallel
connections are not possible via inputs.
Functions
• PWM output
- Maximum output current 6 A
- Maximum frequency 4 kHz
- H bridge
- Channels can be connected in parallel.
• Digital output
- Channels can be connected in parallel.
Values Information
0 Off (default)
1 Digital output
12 PWM
15 PWM, H bridge + with next channel
16 PWM, H bridge - from previous channel
20 Digital output, parallel to previous channel
31 Digital input, source configuration
41 Digital input, sink configuration

3.1.8 MF-PWM (std): PWM, digital outputs
Channels 45 to 60 can be configured as both digital or analog inputs as well as PWM-capable outputs.
A maximum of 2 adjacent outputs are permitted to be connected in parallel on the outputs (1 main output,
1 parallel output). In addition, only uneven channel numbers can be main outputs. Parallel connections are
not possible via inputs.
Functions
• PWM output
- Maximum output current 4 A
- Maximum frequency 1 kHz
• Digital output
Values Information
0 Off (default)
1 Digital output
12 PWM
20 Digital output, parallel to previous channel1)
31 Digital input, source configuration
41 Digital input, sink configuration
1) Only for channels with an even channel number

3.2 Digital inputs

The controller is equipped with 60 digital inputs for 1-wire connections. The inputs of the controller are
designed for sink and source circuits.
Not all options are available for all inputs. The threshold value and hysteresis are only available for inputs
11 to 30, for example, since an analog procedure is used for measurement here.
Input impedance is tightly defined by the physical configuration.
Information:
Digital inputs 9 and 10 cannot be used when using the RS232 interface.
3.2.1 Input filter
An input filter is available for each input. Disturbance pulses that are shorter than the input delay are sup-
pressed by the input filter.
Input
signal
Time
Signal after tDelay tDelay tDelay

the filter
Time
tDelay ⇒ Input delay
The filter is implemented as a ramp filter, and the filter value is configured in 100 μs increments.
Values Information
0 No software filter
1 0.1 ms
...
10 1 ms (default)
...
250 25 ms - Higher values are limited to this value.
Information:
The register is described in "Digital input filter" on page 77.

3.2.2 Switching threshold
A switching threshold with associated hysteresis can be configured for channels 11 to 30.
Configuration options
• Absolute value
The value is set in mV.
• Ratiometric
The value is set in percent.
Threshold value
Absolute or ratiometrically adjustable. When taking into account the configured hysteresis, a voltage level
under the threshold value results in "0" on the corresponding bit; a voltage level above the threshold value
results in "1".
Values Information
0 to 31000 Corresponds to 0 to 31000 mV if an absolute switching threshold is configured.
0 to 1000 Corresponds to 0 to 100.0% if a ratiometric switching threshold is configured.
Example
Desired level with absolute switching threshold: 16 V configuration value: 16000
Desired level with ratiometric switching threshold: 50% configuration value: 500
Hysteresis
Absolute or ratiometrically adjustable. Hysteresis is used to avoid frequent state changes in the measuring
range near the threshold. When taking into account the configured threshold value, a voltage level below
threshold value Switching threshold - Hysteresis results in "0" on the corresponding bit. A voltage level above
threshold value Switching threshold + Hysteresis results in "1".
Values Information
0 to 15000 Corresponds to 0 to 15000 mV if an absolute switching threshold is configured.
Example
Desired hysteresis range with absolute switching threshold: ±5 V configuration value: 5000
Desired hysteresis range with ratiometric switching threshold: ±10% configuration value: 100
Information:
Supply voltage V_CPU is used as a reference voltage for the ratiometric switching thresh-
old.
Information:
The sum of hysteresis and threshold is not permitted to exceed the limit of >32 V or >100%.
The difference between hysteresis and threshold is not permitted to be negative.
Information:
The register is described in "Configurable switching threshold" on page 78.

3.2.3 Edge detection
Digital inputs 1 to 8 can be used for high-speed edge detection. This runs parallel to all other functions such
as counters, etc. This function does not use the digital input filter.
The edge detection function allows edges to be measured with microsecond precision. 8 edge detection
units are available.
Edge selection
A master and a slave edge can be configured for each edge detection unit. Either the rising or falling edge
of one of the 8 high-speed digital input channels can be selected. Only one edge can be selected for each
edge detection unit.
Master and slave edge
Period measurement can be implemented using a master and slave edge, for example. To do this, enable
master and slave edge detection on the same channel. The edge direction for the master and slave edge
must be identical in order to obtain exactly one period.
For evaluation, read out MasterTime0x and SlaveTime0x from the I/O mapping (0x stands for the number
of the channel). The period in microseconds is the delta between the two values.
Example: Measurement on rising edge
U
Master edge Slave edge Master edge
Channel 0x
P1 P2 t [µs]
Period duration Px[µs] = abs(MasterTime01 - SlaveTime01)
Timestamp
At each master edge, the timestamp of the master edge and the timestamp of the previous slave edge are
logged. Data points "Master count" and "Slave count" can always be used to determine how many edges have
been detected since the last task class cycle. The timestamp is based on the system time of the controller.
• When multiple edges occur within a sampling cycle (task class), the time of the last edge in each case
is displayed.
• If multiple slave edges occur before a master edge, then only the timestamp of the last edge is stored.
Error evaluation
Detected edges are stored in a ring buffer for all 8 edge detection units. Edges are lost when the ring buffer
overflows. The loss of one or more edges in the last system tick is detected.
Edges that could not be evaluated within the last system tick are recorded. The edges that are not evaluated
are evaluated in the next system tick.
Information:
The registers are described in "Edge detection" on page 80.

3.2.4 Counter functions
High-speed digital inputs 1 to 8 can be used for counter functions. This function does not use the digital
input filter. There are 4 counters available with 2 channels each.
The following functions are available:
• Event counters
• AB incremental counter
• DF counter function
• ABR counter function
Configuration options
Information:
1 to 4 channels are allocated depending on the counter mode used. An ABR or DF counter, for
example, can therefore only be configured on channel 1 (counter 1) or channel 5 (counter 3).
Channel Counters Event counters AB incremental counter DF counter function ABR counter function
1 1 - Mode = 1 A Mode = 3 D1) Mode = 4 A Mode = 5
2 - Mode = 2 B F2) B
3 2 - Mode = 1 A Mode = 3 R R
4 - Mode = 2 B E3) E3)
5 3 - Mode = 1 A Mode = 3 D1) Mode = 4 A Mode = 5
6 - Mode = 2 B F2) B
7 4 - Mode = 1 A Mode = 3 R R
8 - Mode = 2 B E3) E3)
1) Direction
2) Frequency
3) Enable reference
Example of a valid configuration

Counters Mode Counter function
1 1 Edge counter on channel 1
3 3 AB counter on channel 5
Example of an invalid configuration

Counters Mode Counter function
1 4 DF counter on channel 1
2 3 AB counter on channel 3
3 5 ABR counter on channel 5
Information:
The registers are described in "Counter functions" on page 82.
3.2.5 Latch function
An additional latch function is available for counters 1 and 3.

Latch level
The counter channels can each be configured to HIGH or LOW level. This defines at which states the latch
registers associated with the counters are assumed. When applied, the associated latch event counter is
incremented.
Latch events
The number of latch events that have occurred is recorded and stored as an event counter value. This detects
whether a new latch event has occurred. If several latch events occur during a system tick, the counter value
is only increased by 1.

Latch mode = Continuous

In this mode, the counters are latched once as soon as "LatchEnable = True" and the configured latch con-
dition is met. When the latch condition is met again, the counter content is re-latched (i.e. with each rising
edge on the output of the AND operator, a latch event is triggered on all latch inputs).
Latch mode = Single
In this mode, the counters are latched once as soon as "LatchEnable = True" and the configured latch con-
dition is met. When the latch condition is met again, the counter content is not recopied automatically. An-
other latch event can only be processed after "LatchEnable = False" and another "LatchEnable = True".
Information:
In single shot mode, the latch is only enabled on a rising edge (0 → 1).
Information:
The registers are described in "Counter functions" on page 82.
3.2.6 Input state
Channels 11 to 26 are equipped with open-circuit and short-circuit detection. An evaluation is only per-
formed in the configurations "Digital input with voltage or current diagnostics measurement". The results
of diagnostics are displayed in the status register.
For open-circuit and short-circuit detection, the sensor must be connected with resistors. The resistors are
connected in series or parallel to the sensor. The following values are defined for the resistances:
Resistance Value
Serial (RS) 1 kΩ
Parallel (RP) 10 kΩ
Sensor circuit Description Detection

ECU Series and parallel resistance in mode Open circuit
V_CPU
"Diagnostics-capable voltage input" and short circuit
R 1)
AI SP 2)
1 kΩ
10 nF
10 kΩ
GND

ECU Series and parallel resistance in mode Open circuit
5 V 1)
"Diagnostics-capable current input" and short circuit
1 kΩ
10 kΩ
SP 2)
AI
10 nF

Information:
The register is described in "Status of the digital inputs" on page 79.

3.3 Analog inputs

The controller is equipped with 20 analog inputs for 1-wire connections.
3.3.1 Input filter
A configurable input filter with input ramp limiting is available for each input.
Information:
The register is described in "Input filter" on page 84.
Filter level
A filter can be defined to prevent large input steps. This filter is used to bring the input value closer to the
actual analog value over a period of several milliseconds.
Filtering takes place after any input ramp limiting has been carried out.
Formula for calculating the input value:
Value Old Input value
Value New = Value Old - +
Filter level Filter level
Adjustable filter levels:
Value Filter level
0 Filter switched off
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128
The following examples show the functionality of the filter based on an input step and a disturbance.
Example 1
The input value jumps from 8000 to 16000. The diagram shows the calculated value with the following
settings:
Input ramp limiting = 0
Filter level = 2 or 4
Input value
Calculated value: Filter level 2
16000
8000
0
1 2 3 4 5 6 7 8 Conversion cycle of
analog input (160 µs)
Input jump
Figure 1: Calculated value during input step

Example 2
A disturbance interferes with the input value. The diagram shows the calculated value with the following
settings:
Input ramp limiting = 0
Filter level = 2 or 4
Input value
16000
Disturbance (spike)
8000
0
analog input (160 µs)
Figure 2: Calculated value during disturbance
Input ramp limiting

Input ramp limiting can only be performed in conjunction with filtering. Input ramp limiting is performed
before filtering.
The difference of the input value change is checked for exceeding the specified limit. In the event of over-
shoot, the tracked input value is equal to the old value ± the limit value.
Configurable limit values:
Value Limit value
0 The input value is used without limitation.
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Input ramp limiting is well suited for suppressing disturbances (spikes). The following examples show the
functionality of input ramp limiting based on an input step and a disturbance.

Example 1
The input value jumps from 8000 to 17000. The diagram shows the tracked input value with the following
settings:
Input ramp limiting = 4 = 0x07FF = 2047
Filter level = 2
Input value
Internally tracked input value before the filter
17000
8000
0
analog input
Input jump (160 µs)
Figure 3: Tracked input value for input step

Example 2
A disturbance interferes with the input value. The diagram shows the tracked input value with the following
settings:
Input ramp limiting = 4 = 0x07FF = 2047
Filter level = 2
Input value
Internally tracked input value before the filter
16000
Disturbance (spike)
8000
0
analog input
(160 µs)
Figure 4: Tracked input value for disturbance

3.3.2 Limit value monitoring
The input signal of the analog inputs is monitored against the upper and lower limit values. These depend
on the operating mode that is set in each case.
If required, other limit values can be set for each channel individually. These are enabled automatically by
writing to the limit value registers. From this point on, the analog values will be monitored and limited
according to the new limits. The results of monitoring are displayed in the status register.
Operating mode Lower limit value Upper limit value
Analog input 0 to 10 or 32 VDC 0 32767
Analog input 0 to 20 mA 0 32767
Analog input 4 to 20 mA -8192 32767
Resistance measurement 0 to 4000 Ω 0 4000
Temperature measurement -2000 8500
Information:
If type "Analog input 0-20 mA", "Analog input 4 - 20 mA" or "DI diagnostic current mea-
surement" is configured, the shunt and therefore the analog input are cut off after the up-
per measurement range is exceeded for 0.5 s (ramp filter). After 5 s, the analog input is
switched on again. During the cutoff time, the corresponding measurement range exceed-
ed bit is set.
Information:
If the input is configured to 4 to 20 mA, the measurement information is checked for <2 mA
(open circuit). In this case, the "OutOfRangeAnalogInput'x'" bit is set to value 1.
Limiting the analog value

In addition to the status information, the analog value is permanently set to the defined limit values by
default in the error state (see above). The analog value is limited to the new values if the limit values were
changed.
Information:
The registers are described in "Analog input - Upper and lower limit value" on page 85
and "Status of the analog inputs" on page 86.

3.4 Digital outputs

The controller is equipped with 30 digital outputs for 1-wire connections.
Not all outputs are equivalent. Some outputs can be loaded with 4 A, others with 6 A, for example.
Information:
The registers are described in "Status of the digital outputs" on page 87.
3.4.1 Error monitoring
If the switched output level of a digital output does not correspond to the read-back value taking the set
delay time into account, then an error bit is set. The delay time is rounded up to a multiple of the system tick.
As soon as the switched output level again corresponds to the read-back value taking the set error state
filter ① into account, the corresponding bit will be reset again.
Error state
Before the filter
True
False
Time
After the filter
① ① ① ① ① ①
True
False
Time
① Delay time of the error state bit
If the channel is shut down due to overload, this bit is permanently set until the overload is acknowledged.
If a pin is configured as PWM or DI, then the corresponding bit is not maintained.
3.4.2 Parallel connection of outputs
The digital outputs of channels 31 to 38 can be connected in parallel. A maximum of 2 adjacent outputs
are permitted to be connected in parallel on the outputs (1 main output, 1 parallel output). In addition, only
uneven channel numbers can be main outputs.
Information:
Parallel outputs are switched with the corresponding digital output.

3.4.3 Overload
Overload monitoring
Overload protection is necessary for the circuit board traces and current measuring shunt. The driver com-
ponents protect themselves against overload, and the temperature development in the housing is moni-
tored separately.
The power dissipation on the circuit board traces and shunt is proportional to the quadratic current. The
mean value of the quadratic current should not significantly exceed INom (+5% or 12.5% tolerance) in t sec-
onds. An integral is calculated over the quadratic current for the last 2 seconds, and as soon as this let-
through energy value is exceeded, the output is cut off.
Pin with 6 A continuous current:
INom = 6 A, t = 2 s
Let-through energy value = (6 A x 1.05)² x 2 s = 79.4 A²s
Pin with 4 A continuous current:
INom = 4 A, t = 2 s
Let-through energy value = (4 A x 1.05)² x 2 s = 35.3 A²s
Maximum cutoff time after the occurrence of an overload 1.5 ms + system tick time.
The user can also protect his load with this functionality. Using a configuration register, it is possible to
configure another "current value" instead of INom. If the let-through energy value based on this current value
exceeds that of the nominal current, the let-through energy value used is that of the nominal current.
If a measured value is outside the measurement range, 25 A is used for the further calculation of this mea-
sured value.
If more current (iboost) is required for a certain time (tboost), a smaller current (irest) must flow for the remaining
time (trest) to maintain the let-through energy. 1)
Let-through energy Multifunction outputs
79.4 A2s MF-PWM (bridge)
35.3 A2s MF-PWM (std)
40.5 A2s MF-DO
Calculating the residual time current
Example
1) If a current >10 A (MF-PWM) or >20 A (MF-DO) flows, 25 A is used for the calculation.

Overload protection
The response threshold of the overload shutdown can be configured. If the default value of lNom is changed,
the configured value is used to calculate the maximum let-through energy.
If the calculated let-through energy exceeds the limit value of the channel, the configuration is ignored and
limited to the limit value of the pin.
This value also defines the maximum current of the pin in parallel configurations.
Information:
The configured current value is provided with a tolerance of 5% or 12.5%.
Overload shutdown
If the output is cut off due to an overload, then the corresponding bit in the register is set. After an overload
shutdown has taken place, the output will only be re-enabled after acknowledgment by the application. In
addition, the minimum cutoff duration must be observed by the driver (5 s).
Acknowledgment of overload shutdown

Acknowledgment takes place with a rising edge of the corresponding bit.
Information:
If acknowledgment is carried out before the minimum cutoff duration has elapsed, the ac-
knowledgment will be accepted; however, a DO set by the application is set by the driver
– and consequently the respective status bit (OverloadDigitalOutput31 to OverloadDigi-
talOutput60) is reset – only after the minimum cutoff duration (5 s) has elapsed.
3.5 Analog outputs

Channels 19 to 26 can be configured as analog outputs. The output signal corresponds to a PWM signal
smoothed by a capacitor.
An electrical voltage in the range 0 V to the supply voltage can be output for each channel. This voltage is
output ratiometrically in relation to the supply voltage, i.e. the voltage fluctuates according to the supply
voltage.
Information:
The register is described in "Analog and PVG outputs" on page 89.

3.6 PVG
Digital output channels 19 to 26 can be configured as PVG outputs. PVG is a variant of pulse width modula-
tion for special electrohydraulic valves.
The PVG signal is defined by the two period and pulse width parameters.
Pulse width
U
V_IO
Period (frequency)
• Period (frequency)
The period is fixed at 25 kHz.
• Pulse width (DutyCyle)
This defines the switch-on time (t1) within a period (T).
Example
At fixed period duration T = 4000 [µs] (25 kHz) with a duty cycle of 25%, switch-on time t1 corresponds to
1000 [µs].
Switch-on time depending on the period duration and duty cycle:
U
V_IO
t1 t
t1
= 0.25 = 25%
T
Information:
The registers are described in "Analog and PVG outputs" on page 89.
3.6.1 Options
Evaluating I/O data point "OutputEnable"

This allows individual outputs to be enabled or disabled during operation.
• If the output is disabled, the duty cycle is kept at 50% by the driver.
3.6.2 Output status monitoring
PVG feedback voltage

If the feedback voltage is not within the range of ±20% of the duty cycle 10 ms (ramp filter) after a PVG
change, the corresponding PVG status bit is set. The check is active even if there is no change in the duty
cycle.
Example
If the duty cycle is set to 50%, for example, the feedback voltage must have a value between 30% and 70%
within 10 ms.

3.7 Pulse width modulation (PWM)

Digital output channels 39 to 60 can be configured as PWM outputs.
The PWM signal is defined by the two period and pulse width parameters.
Pulse width
U
V_IO
Period (frequency)
• Period (frequency)
The period duration is defined in microseconds. The period duration can be changed during operation
using a data point or register.
• Pulse width (DutyCyle)
This defines the switch-on time (t1) in 0.1% increments within a period (T).
Example
Period duration T = 4000 [µs] with a duty cycle of 25% corresponds to switch-on time t1 of 1000 [µs].
Switch-on time depending on the period duration and duty cycle:
U
V_IO
t1 t
t1
= 0.25 = 25%
T
Information:
The registers are described in "Pulse width modulation (PWM)" on page 90.
3.7.1 Use as an H bridge
H bridge functionality is configured and operated in the same way as PWM functionality. Negative pulse
widths can also be set so that movements in the opposite direction are also possible on the DC motor.
The PWM of the two channels is synchronized and modulated so that the resulting PWM frequency at the
load doubles. Frequencies up to 8 kHz are therefore possible in this mode.
The rising edge of the voltage curve at the load is regarded as the period start.
The period length or pulse width set by the user always refers to the voltage curve at the load. Frequencies
up to 8 kHz are possible.

Example positive pulse width at resistive load:
Output H bridge
forward channel
Output H bridge
reverse channel
Voltage curve
load
Example negative pulse width at resistive load:
Output H bridge
forward channel
Output H bridge
reverse channel
Voltage curve
load

Configuration
The H bridge reverse channel and its parallel pins apply all configurations from the H bridge forward channel
pin. The only exception is the overload protection current value (cfgOverloadLimitCurrentxx).
Behavior of cyclic I/O data points

Overload monitoring is operated together for the H bridge forward channel, H bridge reverse channel and
their parallel pins. This means that if an overload occurs on one of the outputs, the overload bits of the
entire grouping are also set and all pins are switched off.
Acknowledgment can be carried out on any output of the network.
3.7.2 Options
Phase shift
In order to give the user the possibility to distribute load currents "more evenly", it is possible to set a phase
shift.
If a phase shift of the PWM outputs is desired, the period length must be set via the I/O configuration.
Behavior with level switching

With pins configured in parallel, a tristate phase of 40 µs must be maintained when switching levels (high
to low, low to high) to ensure that the drivers do not drive against each other. This is due to component
tolerances.
With a PWM or H bridge configuration, the tristate phase is added to the low time. If the low time <2x 40 µs,
low is no longer output; instead, the output driver is set to tristate for this time.
Evaluating I/O data point "OutputEnable"

This allows individual outputs to be enabled or disabled during operation, i.e. switched to tristate.
• If evaluation is enabled, the output is first switched to tristate (high resistance); a check then takes
place as to whether the enable conditions for the MF-DO and MF-PWM supply voltage relay are fulfilled.
• If evaluation is disabled, the output is first switched to ground; a check then takes place as to whether
the enable conditions for the MF-DO and MF-PWM supply voltage relay are fulfilled.
3.7.3 Output status monitoring
Parallel configuration
Possible error bits, such as overload monitoring, are operated together. This means that if an overload
occurs on the parallel output, the overload bit of the main output and of the other parallel outputs is also
set and all are cut off.
Acknowledgment can be carried out on any output of the parallel configuration.
Overload monitoring
For additional information, see "Overload" on page 54.

3.7.4 Dither
Using two configuration data points, a dither can be configured with an amplitude and period length. The
amplitude is a relative value to the PWM period length. The dither is applied in cosine form.
Example: PWM with 2-ms period length / 50%
Duty dither with 50-ms period length / 10% amplitude
The duty cycle will "dither" within 50 ms starting at 1.2 ms after 0.8 ms and back again to 1.2 ms.
2x dither amplitude
Period length
Information:
The registers are described in "Dither" on page 92.
3.8 Current measurement

The controller has the ability to measure the currents supplied by the outputs in 3 different ways.
• Instantaneous value
• Root mean square (RMS)
• Arithmetic mean value
These currents can be measured when wired as a digital output as well as in configuration "PWM".
Instantaneous value
For each system tick, the current measured value for the current provided by the hardware is published as
the input value.
Root mean square (RMS) / Arithmetic mean value

The hardware provides a measured current value for each hardware conversion cycle. The recording dura-
tion is commercially rounded to a multiple of the hardware conversion cycle duration. The number of con-
version cycles in the recording interval is used to calculate the arithmetic/square mean value.
Starting with the last measured value provided by the hardware, a new arithmetic/quadratic mean value is
calculated for each system tick over the configured measurement duration.
The measured current value provided by the hardware in which a level switchover was performed is discard-
ed. The measured value of the last hardware conversion cycle in which no switchover took place is used as
the replacement value.
Measurement range
If the square or arithmetic mean value was selected, the recording duration must also be defined. This
defines how far back the last current value to be included for the calculation lies.
Information:
The registers are described in "Current measurement" on page 93.

3.8.1 Synchronizing PWM periods to current measurement
Using a configuration entry, the user can define whether the period should be kept synchronous to the
current measurement.
It is possible to establish a time reference from the PWM period to the system tick using a cyclic I/O data
point and thus subsequently to the current measurement cycle (synchronized to the system tick moment).
PWM period synchronous to current measurement

Since the current measurement is synchronized with the system tick and the set period length is (commer-
cially) rounded to a multiple of the hardware conversion cycle, the period start is synchronized with the
current measurement.
A cyclic I/O data point is provided with which the actual period length can be seen.
Since the hardware conversion cycle and system tick are clocked from different sources, it is necessary to
monitor the synchronicity of the period start to the current measurement and readjust it if necessary. This
means that the period length specified by Automation Runtime can jitter in the range ±0.5%.
PWM period asynchronous to current measurement

The period length is rounded to a multiple of 160 ns. Starting from the rounded period length, the pulse
width is converted to a time value and also rounded to 160 ns.
Information:
The register is described in "Period duration of the PWM outputs" on page 90.

3.9 Temperature management

To monitor temperatures, Automation Studio provides multiple special data points on the controller from
which the required information can be read out.
The following temperatures are monitored:
• Temperature of the CPU
• Temperature of the memory on the mainboard
• Temperature of the printed circuit board in the processors area
• Temperature of the main relay
• Temperature near connectors X1.A and X1.B
Information:
The registers are described in "Temperature management" on page 95.
3.9.1 Overtemperature
Due to no air circulation, insufficient air circulation or heating resulting from heavy loads on the power
outputs (depending on the number of simultaneously used outputs, current, PWM frequency, etc.), the X90
mobile systems may heat up considerably.
Direct sunlight or external heat sources (e.g. combustion engines) can also have a negative effect on tem-
perature management.
The temperature of the housing can therefore be over 40°C higher than the ambient temperature. It is rec-
ommended to monitor the existing temperature sensors to be able to react in good time if necessary (e.g.
reduction of summation current by lowering the working speed). If the maximum permissible temperature
is exceeded, the system may shut down automatically to prevent damage to the control system.
Information:
The maximum housing temperature is not permitted to be exceeded!

3.10 Operating management

To monitor the operating parameter in the controller, Automation Studio provides multiple special data
points from which the required information can be read out.
The following operating parameters are monitored:
Voltages
• Supply voltages. It is important to note the following:
° SupplyVoltageOutput01 is measured before the internal relay, SupplyVoltageOutput02 after. When
the relay is cut off, SupplyVoltageOutput02 therefore shows 0 V.
° "SupplyVoltageCPU" is measured after reverse polarity protection and therefore lower than the
supply voltage feed.
• Sensor voltage
Currents
• Controller currents
This value corresponds to the sum of the positive/negative currents on the output pins (flowing via
power supply lines/pins or grounding contact/pins). The returned value is averaged over the last 500
ms.
• Overload
Indicates whether all outputs have been switched off due to overcurrent.
Summation current monitoring
The summation current is calculated in the software by measuring and adding together all output cur-
rent values.
The following summation current values result in all channels being cut off:
• 15 A to GND
• 30 A to V_I/O
Status bits
• Sensor power supply
Sensor supply OK or faulty
• Output enable
External enable enabled or disabled
• Ignition
Ignition switched on or off
• Enable relay
Enable relay enabled or disabled
Information:
The registers are described in "Operating management" on page 94.
3.11 Standby mode

To ensure that controllers do not have to be permanently in operation when the machines are at a standstill
for long periods (e.g. on weekends) in order to save energy, they can be set to sleep mode. Library "ArEco"
can be used to configure and control the sleep mode.
To save energy, the controller can be shut down by the user task in a targeted manner. If one of the previously
selected wake-up conditions then occurs, the controller automatically restarts. The task can read out the
wake-up reason and react accordingly.
The following sources can be used to wake up the controller. The names in quotation marks can be used
as definitions in library "ArEco".
• The configured time has expired.
• "IF9": Activity was detected on interface "CAN3".
• "RSTBUTTON": The reset function was triggered.
• "X1.StatusIgnition": Control pin Ignition was set.

3.12 Configuration via library AsIOAcc

Configuration registers cannot normally be changed during operation. Some configuration registers can
be changed during runtime using library AsIOAcc, however. These include:
• cfgPWMPeriodxx
• cfgPWMOptionsxx
• cfgPWMDisplacementxx
cfgPWMPeriodxx
This defines the period duration, i.e. the time base for the respective PWM output.
• If "PWM period length source" is configured to this register, the value is applied at the next possible
moment.
• If the phase shift is enabled, the current period is aborted at the moment of application (system tick)
and resumed with the new configuration.
• If the phase shift is disabled, the system resumes with the new period length after the end of the current
period.
cfgPWMOptionsxx
In this register, 3 configuration bits can be reconfigured via the library:
Bit 1: Synchronize period start to current measurement
For details, see "Synchronizing PWM periods to current measurement" on page 61.
• The value is applied at the next possible moment. At the moment of application (system tick), the cur-
rent period is aborted and the next period is started with the new configuration.
Bit 2: Source of the period length
• The value is applied at the next possible moment.
• If the phase shift is enabled, the current period is aborted at the moment of application (system tick)
and resumed with the new configuration.
• If the phase shift is disabled (bit 3), the system resumes with the new period length after the end of
the current period.
Bit 3: Phase shift of the period start time
For details, see "Phase shift" on page 59.
• If the PWM period length source = "PWM period'x'", the configuration is noted but no further actions
are performed.
• If the PWM period length source = "cfgPWMPeriod'x'", the value is applied at the next possible moment.
• At the moment of application (system tick), the current period is aborted and the next period is started
with the new configuration.
cfgPWMDisplacementxx
This allows a more even load to be configured on the outputs.
• If the phase shift is enabled, the current period is aborted at the moment of application (system tick),
the next possible period start is determined with the new configuration and the period is started at
this time.

3.13 LIN interface

LIN (Local Interconnect Network) is a simple, single-wire communication system for networking sensors
and actuators, usually within vehicles. It supports a communication speed of up to 19.2 kbit/s at a maximum
length of 40 meters.
The controller only supports the LIN master interface for the X90 system. Operation as a slave is not in-
tended.
Information:
To be able to use the LIN interface, it must first be enabled. See "DO and power supply
configuration" on page 95.
Information:
Library "CpLin" is required to use the LIN interface.

3.14 Response time

The input values returned by the hardware are evaluated in Automation Runtime based on the X1 I/O con-
figuration and then made available to the application via process variables. For the outputs, Automation
Runtime applies the values from the application, interprets them based on the I/O configuration and sets
the output values accordingly. Automation Runtime also performs other I/O functions, such as overload
monitoring.
These tasks require computing time and are handled by tasks named "tX90...". The controller is
equipped with 2 CPU cores and can distribute the required computing time to both CPU cores via the
I/O configuration .
Since the application only runs on CPU core "ID 0", more computing time can be created for the application
by offloading I/O tasks to CPU core "ID 1". The increase in computing time gained by offloading depends
on the I/O configuration and ranges from approx. 8 to 30% (default to maximum X1 I/O configuration).
Offloading to the second core increases the response time of the inputs. The response time of the outputs
is not affected by offloading to the second core (ID 1).
Advantages and disadvantages
• Only using CPU core "ID 0"
➯ + Faster evaluation of inputs
➯ - Less computing time for the application
• Using CPU cores "ID 0" and "ID 1"
➯ + More computing time for the application
➯ - Longer response times for inputs
Information:
If POWERLINK is enabled, the POWERLINK cycle time and the system time must be
set to the same value. See "System startup limitation" on page 71.

3.14.1 Inputs
The response time of the inputs is influenced by the "CPU core" I/O configuration.
3.14.1.1 I/O configuration "CPU core ID 0"
The input data is evaluated and processed on CPU core "ID 0". Task "tX90io" evaluates the data. This task
also interprets the output values of the application and prepares them for the hardware.
Response time of the inputs
• Minimum: Hardware response time
• Maximum: Hardware response time + 1x system tick cycle time
The hardware input data of the period from the minimum to the maximum response time is used to prepare
the input values of the I/O mapping, such as counters and edge detection, or for the calculation of filters,
current values, etc.
Example (with 1000 µs system tick)
Pin Setting in the I/O configuration Action
1 to 3 Digital input, input filter 0 Levels on pins 1 to 3 change from "Low" to "High".
Task "tX90io" receives all state changes of the input signals or data and processes them for the application.
The I/O scheduler makes the input data available to the tasks via the I/O mapping.
n n+1
System tick
Task class Cyclic 1 I ① ① I

CPU core ID 0
I/O scheduler
tX90io
Evaluation period
Conversion cycle
of current measurement
Pin 1 High
Low
Pin 2 High
Low
Pin 3 High
Low
① Transfer of the input process variables
Behavior of the input variables

Pin Effect
1 to 3 The process variables assigned to registers DigitalInput01 to DigitalInput03 change from "False" to "True" after system tick "n+1".
Response time of the example

• Minimum: Hardware response time
• Maximum: Hardware response time + 1000 µs

3.14.1.2 I/O configuration "CPU core ID 1"
The input data is evaluated and processed on the second CPU core (ID 1). The evaluation is handled by tasks
"tX90ioIn" and "tX90IoEdge". These tasks are not visible in a profiling since only CPU core "ID 0", which is
essential for the application, is recorded by the Profiler.
On CPU core "ID 0", only the output values of the application are interpreted and prepared for the hardware.
This is executed by task "tX90ioOut".
Response time of the inputs
• Minimum: Hardware response time + 9 x Conversion cycle time of current measurement
• Maximum: Hardware response time + 9 x Conversion cycle time of current measurement + 1 x System
tick cycle time
The hardware input data of the period from the minimum to the maximum response time is used to prepare
the input values of the I/O mapping, such as counters and edge detection, or for the calculation of filters,
current values, etc.
1 Digital input, input filter 0 The level on pin 1 changes from "Low" to "High" and drops back to "Low" just before
system tick "n+1".
2 Digital input, input filter 0 The level on pin 2 changes from "Low" to "High".
3 Digital input, input filter 0 The level on pin 3 changes from "Low" to "High".
Tasks "tX90ioln" and "tX90ioEdge" receive all state changes of the input signals or data and process them
for the application. The I/O scheduler makes the input data available to the tasks via the I/O mapping.
n n+1
System tick
Task class "Cyclic 1" I ① ① I

CPU core ID 0
I/O scheduler
tX90ioOut
CPU core ID 1
tX90ioIn
tX90ioEdge
Evaluation period Input delay ②
Conversion cycle
Pin 1 High
Low
Pin 2 High
Low
Pin 3 High
Low
① Transfer of the input process variables

② Input delay
9 x Conversion cycle time of current measurement = 360 µs
Behavior of the input variables

Pin Effect
1 The process variable assigned to register DigitalInput01 changes from "False" to "True" after system tick "n+1".
The variable changes from "False" to "True" after the system tick "n+2".
2 The process variable assigned to register DigitalInput02 remains "False" after system tick "n+1" and does not change to "True" until
system tick "n+2".
3 The process variable assigned to register DigitalInput03 changes from "False" to "True" after system tick "n+1".

• Minimum: Hardware response time + 360 µs
• Maximum: Hardware response time + 360 µs + 1000 µs

3.14.2 Outputs
The response time of the outputs is not influenced by the "CPU core" I/O configuration.
3.14.2.1 MF-DO (std) and MF-PWM (std)
Level changes of outputs are performed as soon as possible. The output timing of the output is affected
by events in the runtime system, however, such as interrupts, priority preemption, etc. This can cause jitter
in the output timing of an output from system tick to system tick.
Response time
• 40 to 400 μs + Hardware response time
Example
Pin Configuration Action
31 Digital main output (without parallel output) The process variable assigned to register DigitalOutput25 changes cyclically be-
tween "True" and "False" over several task cycles.
The following diagram shows the possible course of the rising edge on the output over several system
cycles. In relation to the system tick, the output time fluctuates by jitter caused by the runtime system.
Falling edges behave identically.
System tick
Task class "Cyclic 1" O ①
I/O scheduler
tX90io / tX90ioOut
Jitter Hardware response time

Pin 31 High
Tristate
Low
① Transfer of the output process variables
3.14.2.2 MF-PWM (bridge)
A level change of a digital main output is always performed with the same offset to the system tick. In the
same way, a PWM period is always started with the same offset to the system tick. A configured phase shift
is also provided with this offset.
This offset is 9.5 conversion cycles of the current measurement. With a system tick of 1 ms, this corresponds
to 380 µs. The offset minimizes the jitter of the output timing of an MF-PWM output from system tick to
system tick. The delay of the hardware must be taken into account, however.
Response time
• 9.5 x Conversion cycle time of current measurement + Hardware response time


39 Digital main output (without parallel output) The process variable assigned to register DigitalOutput32 changes from "False" to
"True".
40 PWM-enhanced (without parallel output) The process variable assigned to register PwmPeriod33 changes from 0 to 1000.
The process variable assigned to register PwmDutyCycle33 changes from 0 to 8192.
41 Digital main output (with parallel output) The process variable assigned to register DigitalOutput34 changes from "False" to
"True".
42 PWM-enhanced (with parallel output) The process variable assigned to register PwmPeriod36 changes from 0 to 1000.
The process variable assigned to register PwmDutyCycle36 changes from 0 to 8192.
The following diagram shows the possible course of the rising edge on the output over several system
cycles. The jitter caused by the runtime system does not affect the output timing of the outputs. Falling
edges behave identically.
System tick
Task class "Cyclic 1" O ①
I/O scheduler
tX90io / tX90ioOut
Conversion cycle
Output delay ②
Hardware response time
Pin 39 High
Tristate
Low

Pin 40 High
Tristate
Low

Pin 41 High
Tristate
Low
Pin 42 High
Tristate
Low
① Transfer of the output process variables

② Output delay
9.5 x Conversion cycle time of current measurement = 380 μs

• 380 µs + Hardware response time

3.14.3 System startup limitation
In certain cases, a limitation can occur during startup of the X90 mobile controller, which cannot be pre-
vented due to the system.
System only starting in service mode
Possible causes I/O configuration "CPU core ID 1" is being used, and the POWERLINK cycle time is not equal to the controller cycle time.
Workaround • Use configuration I/O configuration "CPU core ID 0"
or
• Set identical cycle times. For details, see Automation Help.1)
1) For POWERLINK configuration: Communication → POWERLINK → AR configuration → POWERLINK interface configuration (SG4) → Cycle time
For controller configuration: Programming → Editors → Configuration editors → Hardware configuration → CPU configuration → SG4 → CPU prop-
erties - Timing characteristics

Register description
4 Register description
4.1 General data points

This controller is equipped with general data points. These are not controller-specific; instead, they contain
general information such as serial number, system time and heat sink temperature.
General data points are described in section "Additional information - General data points" of the X90 sys-
tem user's manual.
4.2 System requirements

The following minimum versions are required to generally be able to use all functions:
• Automation Studio 4.12
• Automation Runtime K4.93
4.3 Overview of registers

4.3.1 Configuration - Overview of registers
Register Name Data type Read Write
Cyclic Acyclic Cyclic Acyclic
Configuration
Analog input filter
33985 + cfgAnalogFilterN (index N = 11 to 26) USINT ●
(N-11) * 2
34193 + cfgAnalogFilterN (index N = 27 to 30) USINT ●
(N-27) * 2
Analog input - Limit values
34082 + cfgAnalogLowerLimitN (index N = 11 to 26) INT ●
(N-11) * 4
34218 + cfgAnalogLowerLimitN (index N = 27 to 30) INT ●
(N-27) * 4
34018 + cfgAnalogUpperLimitN (index N = 11 to 26) INT ●
(N-11) * 4
34202 + cfgAnalogUpperLimitN (index N = 27 to 30) INT ●
(N-27) * 4
Counter functions
32801 + (N-1) * 2 cfgCounterModeUnit0N (index N = 1 to 4) USINT ●
32810 cfgLatchModeUnit01 UINT ●
32814 cfgLatchModeUnit03 UINT ●
Digital input filter
32785 + (N-1) * 2 cfgDigitalFilter0N (index N = 1 to 8) USINT ●
32869 + (N-9) * 2 cfgDigitalFilterN (index N = 09 to 10) USINT ●
33825 + cfgDigitalFilterN (index N = 11 to 26) USINT ●
(N-11) * 2
(N-27) * 2
(N-31) * 2
(N-39) * 2
(N-45) * 2
Edge detection
32833 + (N-1) * 2 cfgEdgeDetectMasterUnit0N (index N = 1 to 8) USINT ●
32817 + (N-1) * 2 cfgEdgeDetectModeUnit0N (index N = 1 to 8) USINT ●
32849 + (N-1) * 2 cfgEdgeDetectSlaveUnit0N (index N = 1 to 8) USINT ●
Current measurement
34868 + cfgLoadTimeN (index N = 31 to 38) UDINT ●
(N-31) * 8
(N-39) * 8
(N-45) * 8
34849 + cfgLoadTypeN (index N = 31 to 38) USINT ●
(N-31) * 2


(N-39) * 2
(N-45) * 2
Current limiting
34930 + cfgOverloadLimitCurrentN (index N = 31 to 38) UINT ●
(N-31) * 4
(N-39) * 4
(N-45) * 4
Physical configuration
32769 + (N-1) * 2 cfgPinMode0N (index N = 1 to 8) USINT ●
32865 + (N-9) * 2 cfgPinModeN (index N = 09 to 10) USINT ●
33793 + cfgPinMode0N (index N = 11 to 26) USINT ●
(N-11) * 2
34145 + cfgPinModeN (index N = 27 to 30) USINT ●
(N-27) * 2
(N-31) * 2
(N-39) * 2
(N-45) * 2
Configurable switching threshold
33858 + cfgThresholdN (index N = 11 to 26) UINT ●
(N-11) * 4
34162 + cfgThresholdN (index N = 27 to 30) UINT ●
(N-27) * 4
33922 + cfgHysteresisN (index N = 11 to 26) UINT ●
(N-11) * 4
34178 + cfgHysteresisN (index N = 27 to 30) UINT ●
(N-27) * 4
Dither amplitude
36129 + cfgDitherAmplitudeN (index N = 39 to 44) USINT ●
(N-39) * 2
52513 + cfgDitherAmplitudeN (index N = 45 to 60) USINT ●
(N-45) * 2
36162 + cfgDitherPeriodN (index N = 39 to 44) UINT ●
(N-39) * 4
52546 + cfgDitherPeriodN (index N = 45 to 60) UINT ●
(N-45) * 4
PWM
36290 + cfgPWMDisplacementN (index N = 39 to 44) UINT ●
(N-39) * 4
52674 + cfgPWMDisplacementN (index N = 45 to 60) UINT ●
(N-45) * 4
36353 + cfgPWMOptionsN (index N = 39 to 44) USINT ●
(N-39) * 2
52737 + cfgPWMOptionsN (index N = 45 to 60) USINT ●
(N-45) * 2
36226 + cfgPWMPeriodN (index N = 39 to 44) UINT ●
(N-39) * 4
52610 + cfgPWMPeriodN (index N = 45 to 60) UINT ●
(N-45) * 4
Filter status
34962 + cfgStatusFilterN (index N = 31 to 38) UINT ●
(N-31) * 4
(N-39) * 4
(N-45) * 4
Voltage selection of sensor power supply
36865 cfgOpMgmt_Mode USINT ●

4.3.2 Input channels - Overview of registers

Communication
Input state of the digital inputs
2 Input state of the digital inputs UINT ●
DigitalInput01 Bit 0
... ...
... ...
1113 Input state of the digital inputs USINT ●
... ...
DigitalInput 30 Bit 3
... ...
... ...
... ...
Status of the digital inputs
1094 Status of the digital inputs UINT ●
ShortCircuitDigitalInput11 Bit 0
... ...
1182 Status of the digital inputs USINT ●
... ...
1098 Status of the digital inputs UINT ●
WirebreakDigitalInput11 Bit 0
... ...
1186 Status of the digital inputs USINT ●
... ...
Counter functions
10 Counter01 / Encoder01 INT ●
18 Counter02 / Encoder02 INT
42 Latch01CounterValue INT ●
58 Latch01EventsCount INT
50 Latch03CounterValue INT
66 Latch03EventsCount INT
16385 Counter functions - Clear counter value and enable/dis- USINT ●
able latch function
CounterReset01 Bit 0
... ...
CounterReset04 Bit 3
LatchEnable01 Bit 4
LatchEnable03 Bit 6
Edge detection
140 + (N-1) * 8 MasterCount0N (index N = 1 to 8) DINT ●
268 + (N-1) * 8 MasterTime0N (index N = 1 to 8) DINT ●
204 + (N-1) * 8 SlaveCount0N (index N = 1 to 8) DINT ●
332 + (N-1) * 8 SlaveTime0N (index N = 1 to 8) DINT ●
398 EdgeLostErrorCount INT ●
394 EdgeLateErrorcount INT ●
Input value of analog inputs
1030 + (N-11) * 4 AnalogInputN (index N = 11 to 26) INT ●
1118 + (N-27) * 4 AnalogInputN (index N = 27 to 30) INT ●


Analog inputs - Temperature measurement
1030 + (N-11) * 4 ResistorN (index N = 11 to 26) INT ●
1118 + (N-27) * 4 ResistorN (index N = 27 to 30) INT ●
1030 + (N-11) * 4 TemperatureN (index N = 11 to 26) INT ●
1118 + (N-27) * 4 TemperatureN (index N = 27 to 30) INT ●
Status of the analog inputs
1102 Status of the analog inputs UINT ●
UnderflowAnalogInput11 Bit 0
... ...
1190 Status of the analog inputs USINT ●
... ...
OverflowAnalogInput11 Bit 0
... ...
... ...
OutOfRangeAnalogInput11 Bit 0
... ...
... ...
4.3.3 Output channels - Overview of registers

Communication
State of the digital outputs
18433 State of the digital outputs USINT ●
DigitalOutput31 Bit 0
... ...
19458 State of the digital outputs USINT ●
... ...
19602 State of the digital outputs UINT ●
... ...
Error state of the digital outputs
2051 Output error USINT ●
ErrorDigitalOutput31 Bit 0
... ...
3078 Output error USINT ●
... ...
3358 Output error UINT ●
... ...
Overload of the digital outputs
2059 Overload shutdown USINT ●
OverloadDigitalOutput31 Bit 0
... ...
3094 Overload shutdown USINT ●
... ...


3374 Overload shutdown UINT ●
... ...
Acknowledgment of overload
18435 Acknowledgment of overload shutdown USINT ●
OverloadClear31 Bit 0
... ...
19462 Acknowledgment of overload shutdown USINT ●
... ...
19606 Acknowledgment of overload shutdown UINT ●
... ...
PWM outputs
19530 + PWMOutputN (index N = 39 to 44) INT ●
(N-39) * 4
19674 + PWMOutputN (index N = 45 to 60) INT ●
(N-45) * 4
PWM periods
19466 + PWMPeriodN (index N = 39 to 44) UINT ●
(N-39) * 4
19610 + PWMPeriodN (index N = 45 to 60) UINT ●
(N-45) * 4
3162 + (N-39) * 4 PWMPeriodRealN (index N = 39 to 44) UINT ●
3442 + (N-45) * 4 PWMPeriodRealN (index N = 45 to 60) UINT ●
3228 + (N-39) * 8 PWMPeriodStartTimeN (index N = 39 to 44) DINT ●
Disabling dither
19598 Disable dither USINT ●
DitherDisable39 Bit 0
... ...
19738 Disable dither UINT ●
... ...
PVG
17442 + PVGdutyN (index N = 19 to 26) UINT ●
(N-19) * 4
1110 Status of the PVG outputs UINT ●
PVGStatus19 Bit 8
... ...
PVGStatus26 Bit 15
Analog outputs
17442 + AnalogOutputN (index N = 19 to 26) UINT ●
(N-19) * 4
Measured current
2062 + (N-31) * 4 CurrentN (index N = 31 to 38) INT ●
Enable output
17474 Enable output UINT ●
OutputEnable19 Bit 8
... ...
19594 Enable output USINT ●
... ...

4.3.4 Operating management - Overview of registers

Communication
Voltage and current monitoring
4097 Voltage and current monitoring - Reading USINT ●
CurrentOverloadShutdown Bit 2
StatusSensorSupply Bit 3
OutputEnabled Bit 4
StatusIgnition Bit 5
OutputReleased Bit 6
SensorSupplyErr1) Bit 7
20481 Voltage and current monitoring - Writing USINT ●
CurrentOverloadShutdownClear Bit 2
OutputEnable Bit 3
SensorSupplyErrClear1) Bit 4
Measuring controller currents
4102 TotalCurrentPositiv INT ●
4126 TotalCurrentNegativ
Measuring controller voltages
4106 SupplyVoltageSensor01 INT ●
4110 SupplyVoltageOutput01 INT ●
4114 SupplyVoltageOutput02 INT ●
4118 SupplyVoltageCPU INT ●
4134 ReleasePinVoltage INT ●
1) Only available starting with Automation Studio version 6.0.
4.4 Physical configuration

These registers determine the function of the individual channels. For an overview of possible functions
and function values, see "Multifunction I/Os" on page 39.
Name:
cfgPinMode01 to cfgPinMode60
Data type Values
USINT Desired function value
4.5 Digital inputs

The controller is equipped with 60 digital inputs for 1-wire connections.
4.5.1 Digital input filter
Name:
cfgDigitalFilter01 to cfgDigitalFilter60
This register can be used to specify the filter value for all digital inputs in steps of 100 μs. The filter is
implemented as a ramp filter.
Data type Values Information
USINT 0 No software filter
1 0.1 ms
...
10 1 ms (default)
...
250 25 ms - Higher values are limited to this value.

4.5.2 Configurable switching threshold
Name:
cfgThreshold11 to cfgThreshold30
cfgHysteresis11 to cfgHysteresis30
The switching threshold with the associated hysteresis is configured in these registers.
Registers cfgThreshold11 to cfgThreshold30:
UINT 0 to 31000 Corresponds to 0 to 31000 mV if an absolute switching threshold is configured.
Registers cfgHysteresis11 to cfgHysteresis30:

UINT 0 to 15000 Corresponds to 0 to 15000 mV if an absolute switching threshold is configured.
4.5.3 Input state of the digital inputs
Name:
DigitalInput01 to DigitalInput10
These registers contain the input states of digital inputs 1 to 60.
Data type Values
USINT See bit structure registers 1113, 2049 and 3074.
UINT See bit structure registers 2, 1026 and 3354.
Bit structure:
Register 2
Bit Description Value Information
0 DigitalInput01 0 or 1 Input status of digital input 01
... ... ... ...
9 DigitalInput101) 0 or 1 Input status of digital input 10
1) Channels 9 and 10 are not available when using the RS232 interface. They always contain value "0".
Register 1026
... ... ... ...
Register 1113
... ... ... ...
Register 2049
... ... ... ...
Register 3074
... ... ... ...
Register 3354
... ... ... ...

4.5.4 Status of the digital inputs
Name:
ShortCircuitDigitalInput11 to ShortCircuitDigitalInput26
ShortCircuitDigitalInput27 to ShortCircuitDigitalInput30
WirebreakDigitalInput11 to WirebreakDigitalInput26
WirebreakDigitalInput27 to WirebreakDigitalInput30
These registers contain the input states of digital input channels 11 to 30.
Data type Values
UINT See bit structure registers 1094 and 1098.
USINT See bit structure registers 1182 and 1186.
Bit structure:
ShortCircuitDigitalInput
Register1094
0 ShortCircuitDigitalInput11 0 No short circuit
1 Short circuit
... ... ... ...
1 Short circuit
Register 1182
1 Short circuit
... ... ... ...
1 Short circuit
WirebreakDigitalInput
Register 1098
0 WirebreakDigitalInput11 0 No open circuit
1 Open circuit
... ... ... ...
1 Open circuit
Register 1186
1 Open circuit
... ... ... ...
1 Open circuit

4.6 Edge detection

Digital inputs 1 to 8 can be used for high-speed edge detection.
4.6.1 Edge detection - Mode settings
Name:
cfgEdgeDetectModeUnit01 to cfgEdgeDetectModeUnit08
These registers configure the mode of the basic function for either just the master edge or both master
and slave edges.
USINT 0x00 Disabled
0x80 Reaction to master edge
0xC0 Reaction to master/slave edge
4.6.2 Edge detection - Counter
Name:
MasterCount01 to MasterCount08
SlaveCount01 to SlaveCount08
The counter value of detected master and slave edges is stored in these registers. The counter value is used
to detect new measurements.
DINT -2,147,483,648 Number of detected master/slave edges
to 2,147,483,647
4.6.3 Edge detection - Selection of master edge
Name:
cfgEdgeDetectMasterUnit01 to cfgEdgeDetectMasterUnit08
These registers are used to define the source of the master edge for the edge detection unit.
USINT 0 Rising edge on channel 1
1 Falling edge on channel 1
2 Rising edge on channel 2
... ...
255 Disabled
4.6.4 Edge detection - Selection of slave edge
Name:
cfgEdgeDetectSlaveUnit01 to cfgEdgeDetectSlaveUnit08
These registers define the source of the slave edge for the edge detection unit.
USINT 0 Rising edge on channel 1
... ...
255 Disabled

4.6.5 Edge detection - Timestamp
Name:
MasterTime01 to MasterTime08
SlaveTime01 to SlaveTime08
The exact controller system time of the respective edge detection unit is saved to registers MasterTime01
to MasterTime08 when a master edge occurs.
The exact controller system time of a possible previous slave edge is copied to registers SlaveTime01 to
SlaveTime08 when a master edge occurs.
DINT -2,147,483,648 System time of the slave/master edge
to 2,147,483,647
4.6.6 Edge detection - Lost edges
Name:
EdgeLostErrorCount
If one or more edges are lost in the last system tick, the value of this register is increased.
Data type Values
INT -32768 to 32767
4.6.7 Edge detection - Edges not evaluated
Name:
EdgeLateErrorcount
This register is incremented if not all edges of the last system tick could be evaluated.
Data type Values
INT -32768 to 32767

4.7 Counter functions

High-speed digital inputs 1 to 8 can be used for counter functions.
4.7.1 Counter functions - Mode settings
Name:
cfgCounterModeUnit01 to cfgCounterModeUnit04
The counter mode can be set for each counter in these registers. For details, see "Counter functions" on
page 47.
Data type Values
USINT See the bit structure.
Bit structure:
Mode value Information
0 Disabled
1 Edge counter of channel 1, 3, 5 or 7
2 Edge counter of channel 2, 4, 6 or 8
3 AB counter on channel 1, 3, 5 or 7
4 DF counter on channel 1 or 5
5 ABR counter on channel 1 or 5
4.7.2 Counter functions - Counter value
Name:
Counter01 to Counter04
Encoder01 to Encoder04
The current counter values or current encoder values are saved in these registers.
INT -32768 to 32767 Current counter value
4.7.3 Counter functions - Clear counter value and enable/disable latch function
Name:
CounterReset01 to CounterReset04
LatchEnable01
LatchEnable03
These registers clear the counter value or start the latch procedure based on the corresponding bit.
Data type Values
Bit structure:
0 CounterReset01 0 Do not clear the counter value
1 Reset the counter
1 Reset the counter
1 Reset the counter
1 Reset the counter
4 LatchEnable01 0 Disabled
1 Enabled
5 Reserved -
6 LatchEnable03 0 Disabled
1 Enabled
7 Reserved -

4.7.4 Counter functions - Latched counter value
Name:
Latch01CounterValue
Latch03CounterValue
As soon as the latch conditions have been met, the contents of the respective counter are copied to these
registers.
INT -32768 to 32767 Latched counter value
4.7.5 Counter functions - Counter value of latch events
Name:
Latch01EventsCount
Latch03EventsCount
The counter value of the recorded latch events is stored in these registers. This detects whether a new latch
event has been saved. If several latch events occur during a system tick, the counter value is only increased
by 1.
INT -32768 to 32767 Latch events that have occurred
4.7.6 Counter functions - Configuration of latch events
Name:
cfgLatchModeUnit01
cfgLatchModeUnit03
These registers determine the states at which the latch registers associated with the counters are applied.
Data type Values
UINT See the bit structure.
Bit structure:
Register cfgLatchModeUnit01
0 Counter 01: Input 01 high level 0 Disabled
1 Enabled
1 Enabled
1 Enabled
1 Enabled
4 Counter 01: Input 01 low level 0 Disabled
1 Enabled
1 Enabled
1 Enabled
1 Enabled
8 to 15 Latch mode of counter 01 0 Single shot
1 Continuous
2 to 254 Reserved
255 Disabled

Register cfgLatchModeUnit03
1 Enabled
1 Enabled
1 Enabled
1 Enabled
1 Enabled
1 Enabled
1 Enabled
1 Enabled
8 to 15 Latch mode of counter 03 0 Single shot
1 Continuous
2 to 254 Reserved
255 Disabled
4.8 Analog inputs

The controller is equipped with 20 analog inputs for 1-wire connections.
4.8.1 Input filter
Name:
cfgAnalogFilter11 to cfgAnalogFilter30
A filter can be defined to prevent large input steps.
Data type Values
Bit structure:
0 to 3 Filter level 0 Disabled (default)
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128
4 to 7 Input ramp limitation 0 Disabled (default)
1 Limit value = 16383
6 Limit value = 511
7 Limit value = 255

4.8.2 Analog input - Upper and lower limit value
Name:
cfgAnalogUpperLimit11 to cfgAnalogUpperLimit30
cfgAnalogLowerLimit11 to cfgAnalogLowerLimit30
The lower/upper limit value of the analog value is set in these registers. If the analog value goes above or
below the respective limit value, it is frozen at this value and the corresponding error status bits are set.
Analog input 0 to 10 VDC

INT 0 to 32767 cfgAnalogUpperLimit: Upper limit value of the associated analog input
cfgAnalogLowerLimit: Lower limit value of the associated analog input
Analog input 0 to 32 VDC

Analog input 0 to 20 mA
Analog input 4 to 20 mA
INT -8192 to 32767 cfgAnalogUpperLimit: Upper limit value of the associated analog input
Resistance measurement 0 to 4000 Ω

UINT 0 to 4000 cfgAnalogUpperLimit: Upper limit value of the associated analog input
Temperature measurement (Pt1000 characteristic curve)

INT -2000 to 8500 cfgAnalogUpperLimit: Upper limit value of the associated analog input
4.8.3 Input values of analog inputs
Name:
AnalogInput11 to AnalogInput30
Resistor11 to Resistor30
Temperature11 to Temperature30
The analog input value is mapped in these registers depending on the configured operating mode.
INT 0 to 32767 0 to 5 VDC 1)
0 to 10 VDC
0 to 32 VDC 2)
0 to 20 mA
-8191 to 32767 4 to 20 mA (-8191 = 0 mA, 0 = 4 mA, 32767 = 20 mA)
-2000 to 8500 temperature measurement (-200 to 850°C)
UINT 1 to 4000 Resistance measurement 1 to 4000 Ω
1) With setting: "Digital input with current measurement diagnostics"

2) Also with setting: "Digital input with voltage measurement diagnostics"

4.8.4 Status of the analog inputs
Name:
UnderflowAnalogInput11 to UnderflowAnalogInput26
UnderflowAnalogInput27 to UnderflowAnalogInput30
OverflowAnalogInput11 to OverflowAnalogInput26
OverflowAnalogInput27 to OverflowAnalogInput30
OutOfRangeAnalogInput11 to OutOfRangeAnalogInput26
OutOfRangeAnalogInput27 to OutOfRangeAnalogInput30
The state of the analog inputs is stored in these registers.
Data type Values
USINT See bit structure registers 1190, 1194 and 1198.
UINT See bit structure registers 1102, 1106 and 1110.
Bit structure:
UnderflowAnalogInput
Register 1102
0 UnderflowAnalogInput11 0 Limit value not undershot
1 Limit value undershot
... ... ... ...
Register 1190
... ... ... ...
OverflowAnalogInput
Register 1106
0 OverflowAnalogInput11 0 Limit value not overshot
1 Limit value overshot
... ... ... ...
Register 1194
... ... ... ...
OutOfRangeAnalogInput
Register 1110
0 OutOfRangeAnalogInput11 0 Measured value not outside measurement range
1 Measured value outside measurement range
... ... ... ...
Register 1198
... ... ... ...

4.9 Digital outputs

The controller is equipped with 30 digital outputs for 1-wire connections.
4.9.1 State of the digital outputs
Name:
DigitalOutput31 to DigitalOutput38
These registers contain the output state of digital outputs 31 to 60.
Data type Values
UINT See bit structure register 19602.
Bit structure:
Register 18433
0 DigitalOutput31 0 or 1 Output state of digital output 31
... ... ... ...
Register 19458
... ... ... ...
Register 19602
... ... ... ...
4.9.2 Status of the digital outputs
4.9.2.1 Output error
Name:
ErrorDigitalOutput31 to ErrorDigitalOutput38
These registers contain the state of digital outputs 31 to 60.
Data type Values
Bit structure:
Register 2051
0 ErrorDigitalOutput31 0 No error
1 Error
... ... ... ...
1 Error
Register 3078
1 Error
... ... ...
1 Error
Register 3374
1 Error
... ... ...
1 Error

4.9.2.2 Overload shutdown
Name:
OverloadDigitalOutput31 to OverloadDigitalOutput38
If a pin is configured as DI, then the corresponding bit is not maintained.
Data type Values
Bit structure:
Register 2059
0 OverloadDigitalOutput31 0 Not shut down
1 Shut down due to overload
... ... ...
Register 3094
... ... ...
Register 3374
... ... ...
4.9.2.3 Error state filter
Name:
cfgStatusFilter31 to cfgStatusFilter60
If the switched output level of an output does not correspond to the read-back value, this is detected as
an error. This configuration register can be used to set how long an error state must be present for the
corresponding error bit to be set.
UINT 0 to 65535 Corresponds to 0 to 6553.5 ms, delay time of the error state bit in 0.1 ms.
4.9.2.4 Overload protection
Name:
cfgOverloadLimitCurrent31 to cfgOverloadLimitCurrent44
cfgOverloadLimitCurrent45 to cfgOverloadLimitCurrent60
The maximum current value that should be used for limiting (absolute value) is set in these registers.
For additional information, see "Overload protection" on page 55.
UINT 0 to 4000 Channels 31 to 44: Corresponds to 0 to 4000 mA (+5% or +12.5%).
0 to 6000 Channels 45 to 60: Corresponds to 0 to 6000 mA (+5% or +12.5%)

4.9.2.5 Acknowledgment of overload shutdown
Name:
OverloadClear31 to OverloadClear38
Data type Values
Bit structure:
Register 18435
0 OverloadClear31 0 No acknowledgment
1 Acknowledges the overcurrent error
... ... ... ...
Register 19462
... ... ... ...
Register 19606
... ... ... ...
4.10 Analog and PVG outputs

Channels 19 to 26 can be configured as analog or PVG outputs.
4.10.1 Output values of the analog outputs
Name:
AnalogOutput19 to AnalogOutput26
The ratiometric output value of the respective analog output is specified in these registers.
UINT 0 to 32767 Corresponds to 0 to 100% of the supply voltage
4.10.2 Duty cycle of the PVG outputs
Name:
PVGDuty19 to PVGDuty26
The ratio of the duty cycle of the respective PVG output in relation to the period duration is set in these
registers.
UINT 0 to 32767 Duty cycle of the output in 0 to 100%

4.10.3 Status of the PVG outputs
Name:
PVGStatus19 to PVGStatus26
The bits of this register are set if the feedback voltage is not within the range of ±20% of the duty cycle 10
ms (ramp filter) after a PVG change.
Data type Values
Bit structure:
8 PVGStatus19 0 Feedback voltage OK
1 Feedback voltage out of range
... ... ... ...
15 PVGStatus26 0 Feedback voltage OK
1 Feedback voltage out of range
4.10.4 Output enable
Name:
OutputEnable19 to OutputEnable26
Register "OutputEnable" is only needed for the channels that are configured as outputs.
The individual bits are used to switch the respective channels on/off. The respective bit is only evaluated
if it has been configured as a PVG or analog output.
Data type Values
Bit structure:
Register 17474
Bit Name Value Information
8 OutputEnable19 0 Channel 19 output disabled
1 Output enabled (high/low)
... ... ... ...
15 OutputEnable26 0 Channel 26 output disabled
4.11 Pulse width modulation (PWM)

Output channels 39 to 60 can be configured as PWM outputs.
4.11.1 Period duration of the PWM outputs
Name:
PWMPeriod39 to PWMPeriod60
cfgPWMPeriod39 to cfgPWMPeriod60
These registers define the period duration, i.e. the time base for the respective PWM output. This time
represents the 100% value, which can be incremented in 0.1% steps through the duty cycle.
"PWM" configuration
Mode "Synchronous period"
UINT 1 to 239 Period duration 240 µs
240 to 65535 Period duration in microseconds
Mode "Asynchronous period"

"PWM H bridge" configuration


4.11.2 Duty cycle of the PWM outputs
Name:
PWMOutput39 to PWMOutput60
The ratio of the duty cycle of the respective PWM output in relation to the period duration is set in these
registers.
INT -32768 to 32767 Duty cycle of the output in -100 to 100%
4.11.3 Option bits of the PWM outputs
Name:
cfgPWMOptions39 to cfgPWMOptions60
Data type Values
Bit structure:
0 Evaluate bit from cyclic I/O data point "OutputEnable" 0 Disabled
1 Enabled
1 Synchronize PWM period start for current measurement 0 Disabled = Asynchronous period
1 Enabled = Synchronous period
2 PWM period length source 0 "PWMPeriod'x'"
1 "cfgPWMPeriod'x'"
3 Phase shift of the PWM period start 0 Disabled
1 Enabled
4 to 7 Reserved -
Bit 1:
For additional information, see "Synchronizing PWM periods to current measurement" on page 61.
Bit 2:
The source of the period length is configured here.
Bit 3:
For information about the phase shift of the period start times, see "Phase shift" on page 59.
4.11.4 Load current distribution
Name:
cfgPWMDisplacement39 to cfgPWMDisplacement60
In order to give the user the possibility to distribute load currents "more evenly", it is possible to set a phase
shift.
UINT 0 to 15 Corresponds to 0 to 65535 µs, phase shift of the PWM period start of MF-PWM pin "x"
4.11.5 Output enable
Name:
OutputEnable39 to OutputEnable44
Register "OutputEnable" is only needed for the channels that are configured as outputs.
The individual bits are used to switch the respective channels on/off. The respective bit is only evaluated
if it has been enabled with configuration register cfgPWMOptions bit 0 and the pin has been configured
as PWM or digital output.
Data type Values
Bit structure:
0 OutputEnable39 0 Output channel 39 disabled (tristate)
... ... ... ...
5 OutputEnable44 0 Output channel 44 disabled (tristate)

4.11.6 Actual period duration
Name:
PWMPeriodReal39 to PWMPeriodReal44
UINT 0 to 65535 Corresponds to 0 to 65535 µs, actual period [µs] of the PWM output on MF-PWM pin "x"
4.11.7 Actual period start
Name:
PWMPeriodStartTime39 to PWMPeriodStartTime44
UINT -2,147,483,648 System time of the last period start before the system tick [µs] of MF-PWM pin "x".
to 2,147,483,647
4.11.8 Dither
Using two configuration data points, a dither can be configured with an amplitude and period length.
4.11.8.1 Disabling dither
Name:
DitherDisable39 to DitherDisable44
DitherDisable45 to DitherDisable60
Data type Values
USINT See bit structure register 19598.
Bit structure:
Register 19598
0 DitherDisable39 0 Enable dither
1 Disabling dither
... ... ... ...
1 Disabling dither
Register 19738
1 Disabling dither
... ... ... ...
1 Disabling dither
4.11.8.2 Dither amplitude
Name:
cfgDitherAmplitude39 to cfgDitherAmplitude60
UINT 0 to 255 Corresponds to 0 to 25.5% of the PWM period length, dither amplitude of MF-PWM pin "x"
4.11.8.3 Dither period length
Name:
cfgDitherPeriod39 to cfgDitherPeriod60
UINT 0 Corresponds to 0 µs, dither period length of MF-PWM pin "x"
1 to 999 Corresponds to 1000 µs, dither period length of MF-PWM pin "x"
1000 to 65535 Corresponds to 1000 to 65535 µs, dither period length of MF-PWM pin "x"

4.12 Current measurement

The controller has the ability to measure the currents supplied by the outputs in different ways.
4.12.1 Measured current
Name:
Current31 to Current38
These registers contain the analog measured current value of the MF-DO power outputs measurement
range 0 to 20 A.
1 LSB of the INT value corresponds to 610 µA.
INT 0 to 32767 Measured current
Name:
Current39 to Current60
These registers contain the analog current measured value of the MF PWM power outputs:
• Channels 39 to 44: -10 to 10 A
• Channels 45 to 60: 0 to 10 A
1 LSB of the INT value corresponds to 305 µA.
INT -32768 to 32767 Measured current
4.12.2 Current measurement configuration
Configuration of the measurement type

Name:
cfgLoadType31 to cfgLoadType60
USINT 0 Instantaneous value (not for PWM)
1 Root mean square (RMS)
2 Arithmetic mean value
3 to 255 Reserved
Configuring the measurement range

Name:
cfgLoadTime31 to cfgLoadTime60
The configured value specifies how far back the last current value taken into account for the calculation
goes.
UINT 40 to 65535 Measurement range in µs

4.13 Operating management

4.13.1 Voltage and current monitoring
Reading
Name:
CurrentOverloadShutdown
StatusSensorSupply
OutputEnabled
StatusIgnition
OutputReleased
SensorSupplyErr
Data type Values
Bit structure:
0 to 1 Reserved -
2 CurrentOverloadShutdown 0 No error
1 All outputs cut off (overcurrent)
3 StatusSensorSupply 0 Error in sensor power supply
1 Sensor power supply OK
4 OutputEnabled 0 Disables external enabling
1 Enables external enabling
5 StatusIgnition 0 Ignition plus off
1 Ignition plus on
6 OutputReleased 0 Enable relay not activated
1 Enable relay activated
7 SensorSupplyErr1) 0 Error occurred in the sensor power supply (must be ac-
knowledged)
1 Sensor power supply OK
Writing
Name:
CurrentOverloadShutdownClear
OutputEnable
SensorSupplyErrClear
Data type Values
Bit structure:
0 to 1 Reserved -
2 CurrentOverloadShutdownClear 0 -
1 Rising edge:
Digital outputs are re-enabled after summation current
monitoring is disabled.
3 OutputEnable 0 Outputs disabled
1 Outputs enabled
4 SensorSupplyErrClear1) 0 -
1 The sensor power supply is switched on again after the au-
tomatic switch-off due to an error.
5 to 7 Reserved -
4.13.2 Measuring controller currents
Name:
TotalCurrentPositiv
TotalCurrentNegativ
These data points return the sum of the positive/negative currents of the output pins. The total currents
are arithmetically averaged over 500 ms.
Data type Values Measured current
INT 0 to 32767 0 to 45 A

4.13.3 Measuring supply voltages
Name:
SupplyVoltageOutput01, SupplyVoltageOutput02
SupplyVoltageCPU
These data points return the measured supply voltages.
Data type Values Measured voltage
INT 0 to 32767 0 to 40 V
4.13.4 Measuring sensor voltage
Name:
SupplyVoltageSensor01
These data points return the measured sensor voltage.
INT 0 to 32767 0 to 11 V
4.13.5 DO and power supply configuration
Name:
cfgOpMgmt_Mode
Data type Values
Bit structure:
0 Voltage selection of sensor power supply 01 0 5 V sensor power supply
1 10 V sensor power supply
1 Activate data point enable 0 Enabling the outputs is controlled externally.
1 Enabling the outputs is controlled by data point "OutputEn-
able" and externally.
2 Enable sensor power supply 0 Enabled
1 Disabled
3 Enable LIN power supply 0 Enabled
1 Disabled
4 to 7 Reserved -
4.13.6 Voltage of the enable line
Name:
ReleasePinVoltage
These data points provide the measured voltage on the enable line.
INT 0 to 32767 0 to 40 V
4.14 Temperature management

To monitor the temperatures in the controller, Automation Studio provides multiple special data points
from which the required information can be read out.
4.14.1 TemperatureCPU
Name:
TemperatureCPU
The internal temperature of the CPU can be read from this data point.
The temperature is not permitted to exceed 120°C.
INT -32768 to 32767 Temperature in 1/10°C

4.14.2 TemperatureENV1
Name:
TemperatureENV1
The temperature of the memory module on the mainboard can be read from this data point.
Name:
TemperatureENV2
This data point can be used to read the temperature of the printed circuit board in the are of the processors.
The temperature is not permitted to exceed 95°C. Exceeding this results in automatic shutdown of the
system. After the controller has cooled down by at least 10°C, the system starts up again and sets a logbook
entry.
Circuit diagram of overtemperature shutdown
Standard operation
No
Temperature
≥ 95°C
Yes
Overtemperature
Restart
shutdown
No
Temperature Generating
< 85°C logbook entry
Yes
Name:
TemperatureENV3
The temperature of the main relay can be read from this data point.

Name:
TemperatureENV4
The temperature near connector X1.B can be read from this data point.
4.15 Minimum I/O update time

The minimum I/O update time specifies how far the bus cycle can be reduced so that an I/O update is
performed in each cycle.
Minimum I/O update time
400 µs

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X90CP154.

Translation of the original documentation

2 X90CP154.xx-00 Data sheet V 1.02

1.1 Other applicable documents

Other applicable documents

1.2 Order data

Table 1: X90CP154.60-00 - Order data

Your logo could be here.

X90CP154.xx-00 Data sheet V 1.02 3

Inputs and outputs - Overview

1.3 Module description

4 X90CP154.xx-00 Data sheet V 1.02

X90CP154.xx-00 Data sheet V 1.02 5

2.1 Technical data

Table 2: X90CP154.60-00 - Technical data

6 X90CP154.xx-00 Data sheet V 1.02

Order number X90CP154.60-00

Table 2: X90CP154.60-00 - Technical data

X90CP154.xx-00 Data sheet V 1.02 7

Order number X90CP154.60-00

Table 2: X90CP154.60-00 - Technical data

8 X90CP154.xx-00 Data sheet V 1.02

Order number X90CP154.60-00

Table 2: X90CP154.60-00 - Technical data

X90CP154.xx-00 Data sheet V 1.02 9

Order number X90CP154.60-00

Table 2: X90CP154.60-00 - Technical data

10 X90CP154.xx-00 Data sheet V 1.02

Order number X90CP154.60-00

Table 2: X90CP154.60-00 - Technical data

X90CP154.xx-00 Data sheet V 1.02 11

2.2 LED status indicators

2.2.1 LED "S/E" (status/error LED)

2.2.1.1 Ethernet mode

In this mode, the interface is operated as an Ethernet interface.

12 X90CP154.xx-00 Data sheet V 1.02

2.2.1.2 POWERLINK V2 mode

Managing node (MN)

Controlled node (CN)

Controlled node (CN)

Managing node (MN)

Controlled node (CN)

Managing node (MN)

Controlled node (CN)

X90CP154.xx-00 Data sheet V 1.02 13

Managing node (MN)

Controlled node (CN)

Controlled node (CN)

2.2.2 System stop error codes

150 300 150 300 150 300 600 2000

Error Error description

14 X90CP154.xx-00 Data sheet V 1.02

Use the appropriate M6 screws to secure the controller into position.

2.4 Operating and connection elements

X90CP154.xx-00 Data sheet V 1.02 15

2.4.1 Reset button

The reset button is located behind the service access window.

2.4.2 Flash drive

This application memory is implemented as an integrated flash drive.