Bosch Rexroth 31 Series Instruction manual

RE 95206/08.2018, Bosch Rexroth AG
Features
▶ High performance thanks to 32-bit TriCore technology
with 270 MHz
▶ Component of the BODAS system for mobile
applications
▶ Robust and compact design meeting specifications for
mobile applications
▶ High Electromagnetic Compatibility (EMC)
▶ Inputs and outputs with fault detection
▶ Central output deactivation
▶ Pulse-Width-Modulated (PWM) solenoid currents for
minimal hysteresis
▶ Closed-loop control of solenoid currents, i.e. not
dependent on supply voltage and temperature
Main components
▶ 20 power outputs, 10 of which current-controlled
▶ 9 low power signal outputs
▶ 46 multi-functional input pins
▶ Program sequence monitoring with watchdog
▶ Two independent sensor voltage supplies
▶ Four independent CAN bus interfaces
(one of which useable for ISOBUS and one with
wake-up function)
▶ One LIN interface
▶ For closed- and open-loop control of hydraulic
components
BODAS Controller
RC10-10 Series 31
RE 95206
Edition: 08.2018
Replaces: 10.2016
Contents
Ordering code 2
Optional accessories 2
Description 3
Block circuit diagram 4
Technical data 5
Connection diagram 8
Overview of functions 11
Dimensions 18
Installation position 19
Mating connector 20
Safety instructions 23

Bosch Rexroth AG, RE 95206/08.2018
2RC10-10 Series 31 | BODAS Controller
Ordering code
Ordering code
01 02 03
RC 10-10 / 31
Type
01 BODAS controller RC
Version
02 1st number: number of proportional power outputs1)
2nd number: number of power switching outputs 10-10
Series
03 Series 3, index 1 31
Notes:
▶ The BODAS controllers are not functional without
software.
▶ In order to use the BODAS controllers, you also need:
– BODAS standard software or
– application-specific software
▶ If there is a sample label on the name plate, it is a
prototype or sample, i.e., components not released for
series production.
Possible sample labels are:
– SC: A
– SC: B
– SC: C
– SC: S (prototype software)
Optional accessories
▶ BODAS-design software
The windows-based PC software BODAS-design (see
data sheet 95112) can be used for programming this
BODAS RC controller. All graphical and textual
programming languages specified according to IEC
61131-3 are available. Restrictions regarding the
languages apply for safety related applications (see
safety-relevant project planning instruction).
▶ BODAS-service software
The windows-based PC software BODAS-service (see data
sheet 95086) is used for displaying functions, errors and
system variables as well as for setting parameters via a PC.
It is also used for flashing programs from a PC onto the
controller.
▶ C programming interface C-API
The programming interface C-API (see data sheet
95115) can be used for programming this BODAS RC
controller in the programming language C. All required
functions that are needed for the configuration and the
reading of the inputs, the control of the outputs, the use
of the communication interfaces and the creation of the
diagnostics information for BODAS-service are available
to the user in the form of a software library.
Additionally, the user needs a C Compiler, with which
the created program is translated into a machine code
that is readable for the BODAS controller
.
▶ BODAS measuring adapter MA8
The BODAS measuring adapter MA8 (see data sheet
95090) facilitates measuring all electrical signals at the
inputs, outputs and interfaces of the BODAS controller.
For testing purposes, it is connected in series between
the RC controller and the vehicle or device wiring.
▶ BODAS TB3 test box
The BODAS test box TB3 is used for simulation of
vehicle and device functions for development and
testing purposes with BODAS controllers. The BODAS
TB3 test box is connected to the controller via an
adapter cable. A stencil provides channel designations
specific for this controller. For details see data sheet
95092.
All products mentioned here are available from Bosch
Rexroth.
Further information can be found on the internet at:
www.boschrexroth.com/mobile-electronics
1) Includes Low-side proportional outputs that must be used in
combination with High-side outputs.

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Description
3
Description
The BODAS controller RC10-10/31 is designed as a
universal controller for mobile working machines. State-of-
the-art 32-bit TriCore technology, a clock frequency of
270MHz and numerous I/O functions account for a
controller with high power density in a compact housing.
The controller is used for the programmable control of
proportional and switching solenoids as well as additional
electrical switching functions. Typical applications are
electrohydraulically actuated work functions, travel drives
and transmission controls.
Internally the BODAS controller RC10-10 series 31 contains
a powerful 32-bit TriCore microprocessor TC1793, all input
and output circuitry and a power supply unit for operation
with 12 or 24 volt nominal supply voltages.
With 20 power outputs, 9 small signal outputs, a total of
51input channels, two constant voltage sources and
four CAN buses for communication in the vehicle, the
RC10-10/31 controllers form a powerful platform for
controlling mobile working machines.
The ten current-controlled, pulse-width-modulated (PWM)
outputs are used in particular for controlling proportional
solenoids. Current control guarantees the set-point current
even if the supply voltage or the temperature of the
solenoid changes and it is characterized by minimal
hysteresis. The PWM outputs match the electrical
proportional control of Rexroth axial piston units and
valves. 10 switching outputs can be used for switching
solenoids, relays or other electrical consumers.
Up to 12 inputs may be used to measure frequency signals.
Eight of these inputs are configured for active frequency
sensors and six of these can read in Rexroth DSM1-10
speed sensors with integrated diagnosis function.
Four resistance inputs are used, for example, to directly
connect temperature sensors and may be used to acquire
frequency signals alternatively.
Eight inputs can be used for connecting sensor via the
SAEJ2716 SENT interface.
The other inputs can be used for measuring analog voltages
or as switching inputs.
The inputs are protected against overvoltage and electrical
interference. The voltage inputs can be monitored to detect
cable breaks or short circuits.
CAN bus interfaces are available with all BODAS controllers
RC for exchanging data with other bus users or electronic
systems (e.g. controller RC, I/O extension module, joystick,
engine control unit, display).
Four independent CAN bus interfaces, each of which can
be operated with various protocols, are available in the
RC10-10/31 BODAS controller. One of these CAN interfaces
can be used to wake up the controller. Another one features
ISOBUS termination. Communication with a service tool is
also conducted via a CAN interface. The RC10-10/31
controller is supported as standard by the Rexroth tool
BODAS-service.
An application interface in the form of a C-API is available
for programming the controller in high level language C.
This allows the software developer to concentrate on the
important functions of the machine without having to
become immersed in the details of the TriCore technology
and the hardware of the controller.
Simple and flexible programming of the BODAS controller
according to the industry standard IEC 61131-3, which
enables a very convenient and rapid introduction to the
programming of the RC10-10/31, is possible with the
BODAS-design software. Comprehensive and complex
applications can be conveniently developed and clearly
represented with BODAS-design.
With the BODAS-service software, the programs can be
quickly and simply downloaded to the controller via the
Flash module. Extensive service functions, such as
diagnostics, parameter setting or display of process
variables are available via the graphical Windows interface
of BODAS-service. This enables simple parameter setting
and diagnostics in order to place the machine in service
rapidly and safely.
The BODAS controllers RC were developed specifically for
use in mobile working machines and satisfy corresponding
protection requirements regarding ambient temperatures,
water and dust ingression, shock and vibration as well as
electromagnetic compatibility (EMC). BODAS controllers
RC and corresponding software in combination with
pumps, motors, valves, sensors, input devices and
actuators from Rexroth make for complete system
solutions.
The RC10-10/31 controller can be used for safety functions
according to ISO 25119 or EN ISO 13849. Safety-relevant
project planning instructions have to be observed if such
safety functions shall be implemented or the two-channel
stop function shall be used. These instructions are available
on request.

Bosch Rexroth AG, RE 95206/08.2018
4RC10-10 Series 31 | BODAS Controller
Block circuit diagram
Block circuit diagram
TriCore™ TC1793
Microcontroller, 32 bit
µC DSP RISC µC
PFlash
2 x 2 MB
DFlash
192 k B
RAM
128 kB
HW RAM
comparator
external
RAM
1 MB
EEPROM
32 kB
PWM HS
PWM LS
switch HS
Voltage output
25 % .. 75 %
VB
Central
deactivaiton
VP_1 VP_2
Digital inputs
Analog inputs
3 separate A/D c onverters 12 bits
Digital outputs
4 CAN controllers
LS low power
switch
Analog output
4..20 mA / 0..5 V
or LS low power
switch
CAN drivers
LIN interface
Reverse
polarity
protection
Power supply
with intelligent
watchdog
Activation
pulse
KL30
HW inhibit 1
HW inhibit 2
KL30_1
KL15
Serial interface
CAN2
SW-INH
SENT
DSM / active
frequency
Active
frequency
Resistance
5 V Frequency
Analog
current/voltage
Analog voltage
1
1 .. 8
1 .. 6
1 .. 2
1 .. 4
1 .. 4
1 .. 17
1 .. 3
1
internal
consumers
1 .. 4
1 .. 10
1 ..4
1 .. 6
1 .. 3
1 .. 2
Reverse
polarity
protection
Sensor supply 1 .. 2
ISOBUS driver1
Abbreviations
µCMicrocontroller
DSP Digital signal processor
RISC Reduced instruction set computer
PFlash program flash
DFlash Data flash
RAM Random Access Memory

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Technical data
5
Technical data
BODAS Controller RC10-10 Series 31
Supply voltage
Nominal 12 V DC and 24 V DC
Permissible range 8 V DC to 32 V DC
Current consumption
Standby current <1 mA at 32 V
Without load, in the 12 V vehicle electrical system, approx. 280 mA
Without load, in the 24 V vehicle electrical system, approx. 210 mA
Fuses
Internal ‒
External in supply path for power outputs max. 30 A
External in supply path for internal electronics 5 A
Constant voltage sources, total 2
300 mA 5 V ± 2.5 % 1
300 mA 3.3 V, 5 V, 8.5 V, 10 V ±10 % 1
Analog voltage inputs, total
(can be used as digital inputs, partially provided as alternative function)
42
0 to 5 V 23
0 to 10 V 2
0 to 32 V 17
Digital voltage inputs, total
(alternative function of other inputs)
51
Analog input with digital evaluation in software (see above) 42
SENT inputs used as digital inputs 8
Software inhibit input used as digital input 1
Resistance inputs
Measurable resistance range 0 Ω to 50 kΩ 4
Frequency inputs, total 12
Active sensors typical 0 Hz .. 20 kHz 2
DSM (can be used as active speed sensor input alternatively) typical 0 Hz .. 20 kHz 6
5 V frequency inputs (alternative function of resistance inputs) typical 0 Hz .. 20 kHz 4
Analog outputs, total 6
0 .. 5 V or 4 .. 20 mA 2
25 % .. 75 % Vbat 4
Digital sensor interfaces
SAE J2716 SENT 8
Low current switch outputs (typically used for LED), total 5
Low side switch output (up to 20 mA) 3
Low side switch output as alternative function of 5 V / 20 mA analog outputs (see above) 2
Proportional solenoid output, total 10
Current-controlled high-side PWM output stage 0 .. 3 A, PWM up to 250 Hz 2
0 .. 4 A, PWM up to 250 Hz 2
Current-controlled low-side PWM output stage 0 .. 3 A, PWM up to 1 kHz 4
Use with loads powered from high-side outputs 0 .. 4 A, PWM up to 1 kHz 2
Digital power output stages
Switch output stage
Can be used to power loads with current control on the low-side
max. 3 A 10

Bosch Rexroth AG, RE 95206/08.2018
6RC10-10 Series 31 | BODAS Controller
Technical data
BODAS Controller RC10-10 Series 31
Communication interfaces, total 5
CAN 2.0 B 3
ISOBUS 1
LIN 1
Fault detection in the event of cable break and short circuit
Inputs (dependent on pull-up / pull-down resistor) ●
Outputs ●
LIN ●
CAN ●
Protection against short circuits to supply voltage and ground
(Requirement: controller is powered and running, i.e. KL_30, KL30_1 and KL15 connected to VB,
ground pins connected to vehicle ground, processor runs valid software
Inputs ●
Outputs ●
LIN ●
CAN ●
Reverse polarity protection
Power supply power outputs ●
Power supply electronics ●
Microcontroller SAK-TC1793
Clock frequency
Processor clock 270 MHz
Internal memory capacity in microcontroller
SRAM 128 kB
DFlash 192 kB
PFlash with ECC organized in two separate address areas 2 x 2 MB
Check C-API or BODAS-design manual for the use
of the 2nd PFlash area
External memory capacity in RC controller
RAM with CRC 1 MB
EEPROM 32 kB
Software installation
Download in PFlash ●

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Technical data
7
BODAS Controller RC10-10 Series 31
Durability testing
Simulated field use of 10 years with 10,000 operating hours ●
Electromagnetic compatibility
Spurious interference (ISO 11452-2) 150 VRMS/m
Spurious interference (ISO 11452-4) BCI: 100 mA
Load dump with 12 V battery voltage ●
Load dump with 24 V battery voltage ●
Electrostatic Discharge ESD
(according to ISO 10605)
Direct contact unpowered / powered up 8 kV / 8 kV
Air discharge unpowered / powered up 15 kV / 15 kV
Maximum power dissipation
Internal Electronics 4 W to 6 W
Output stages 45 W (32 V, 30 A)
Operating temperature, housing
With mounting point on cooling surface –40 to +85 °C
(–40 to +185 °F)
Temperature of cooling surface  +60 °C (140 °F)
Storage temperature, housing
Maximum permissible housing temperature momentary, passive: –40 to +105 °C
(–40 to +221 °F)
Vibration resistance, broadband noise oscillations
(ISO 16750-3)
57.9 m/s2, 10 to 1000 Hz, 32 h per axis ●
10 Hz: 18 (m/s2) 2/Hz ●
20 Hz: 36 (m/s2) 2/Hz ●
30 Hz: 36 (m/s2) 2/Hz ●
180 Hz: 1 (m/s2) 2/Hz ●
2000 Hz: 1 (m/s2) 2/Hz ●
Shock resistance
Transport shock (IEC 60068-2-27) a = 30 g; t = 18 ms ●
1000 times per spatial axis x, y, z and in
each direction (pos./neg.)
Moisture resistance
(IEC 60068-2-11 Db version 2)
90–96 % (+25 °C to +55 °C) ●
Salt spray resistance
(DIN EN 60068-2-11 Ka) NaCl 5% ●
pH value 6.5 – 7.2 ●
144 h 35 °C ●
Type of protection (ISO 20653)
With installed mating connector including wire seals and dummy plugs IP65 ●
Housing material
Cover Die-cast aluminium ●
Base Deep-drawn sheet metal ●
Weight 640 g ±5%
Outer dimensions
Without mating connector Length 203 ±1 mm
Width 167.3 mm
Height 37.9 mm
Mating connector
One connector chamber 94 male pins

Bosch Rexroth AG, RE 95206/08.2018
8RC10-10 Series 31 | BODAS Controller
Connection diagram
Connection diagram
10)
(B) OUT_2
(A) OUT_1
(B) OUT_4
(A) OUT_3
(A) OUT_6
(A) OUT_5
(A) OUT_8
(A) OUT_7
(A) OUT_10
(A) OUT_9
(B) OUT_12
(B) OUT_11
(B) OUT_14
(B) OUT_13
(A) OUT_23
(A) OUT_24
(A) OUT_19
(A) OUT_20
(A) OUT_21
(A) OUT_22
+24 V
+12 V/ KL30
KL31
KL15
3.0 A
4.0 A11)
3.0 A
4.0 A11)
2)
2)
3.0 A
2)
2)
3.0 A
3.0 A
2)
2)
3.0 A
3.0 A
2)
2)
3.0 A
3.0 A
2)
2)
3.0 A
3.0 A
3.0 A
3.0 A
3.0 A
3.0 A
3.0 A
4.0 A
4.0 A
1 A
30 A max.
5 A
6)
7)
1530
(B)
7
VP_1
VP_1
VP_2
76
29
79
78
77
81
80
75
74
91
92
93
94
84
85
82
83
51
73
(C)
(C)
(C)
(C)
(C)
(C)
(C)
IN_26
10
Active
DSM
DSM
DSM
DSM
DSM
Active
DSM
1)
KL30
KL30_1
1
5
3
2
6
4
VSS_2
8
SW_INH
20
IN_38
HW_INH_2
18
HW_INH_1
9
8)
9)
5)
PGND
23
11
KL30KL30
IN_27
30
KL30_1
KL30_1
IN_28
12
IN_29
13
IN_30
70
IN_31
61
IN_32
63
IN_33
64
5)
(A)
(A)
(B)
(C)
(C)
(C)
(C)
(C)
(A)
(B)
(C)
(C)
(A)
IN_1
65
IN_2
31
IN_3
34
IN_4
35
IN_5
36
IN_6
44
IN_7
45
IN_8
46
IN_9
47
10)
VP_1 VP_2
VSS_1
22
0 V
ground
maximum
current ratings
High active
Power supply
power outputs
Optional
de-energize switch
Ignition switch
Proportional
output
Proportional
output
Proportional
output
Proportional
output
Power supply
electronics
Switch-on signal
Switch output
RC10-10/31
Switch output
Switch output
Switch output
Switch output
Switch output
Switch output
Switch output
Switch output
Switch output
Proportional
output3)
Proportional
output3)
Proportional
output3)
Proportional
output3)
Proportional
output3)
Proportional
output3)
Frequency
32 V analog/digital inputs
5 V analog/digital inputs
pull-down configuration
Stop
switch 5 V constant
voltage
Constant voltage
3.3 V / 5 V / 8.5 V / 10V
300 mA
Constant voltage
5 V
300 mA
Phase 4
Phase 3
Phase 2
Phase 1
Footer see page 10 Connection diagram part 2 see page 9
KL30 or KL30_1
(fuse-protected)

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Connection diagram
9
(B)
(B)
(C)
(B)
(B)
(C)
(C)
(B)
IN_14
19
IN_15
37
IN_16
38
IN_17
39
IN_18
40
IN_19
41
IN_20
42
IN_21
43
IN_22
66
IN_24
68
IN_23
67
IN_25
69
VP_2
VP_1
(A)
(B)
(B)
(C)
(B)
(C)
(C)
(C)
IN_34
62
IN_35
24
IN_36
25
IN_37
26
SGND_1
56
SGND_2
53
IN_39
52
IN_40
54
IN_41
55
IN_42
57
IN_43
48
IN_44
58
IN_45
59
IN_46
60
(B) OUT_15 14
(B) OUT_16 15
(B) OUT_17
(C) OUT_18
(C) OUT_25
90
(C) OUT_26
87
(C) OUT_27
86
(C) OUT_28 88
(C) OUT_29 89
CAN HI 27
CAN LI 28
CAN H2 49
CAN L2 50
CAN H3 71
CAN L3 72
CAN H4 32
CAN L4 33
21
1)
VSS_1
0 ... 75 % VB
0 ... 75 % VB
0 ... 75 % VB
0 ... 75 % VB
RC10-10/31
10)
10)
10)
16
17
Current / 5 V analog /
digital inputs
Do not switch to the battery voltage
5 V constant
voltage
Temperature (resistance) / frequency /
5 V analog / digital inputs
Do not switch to the battery voltage
High or low active
Proportional output
32 V analog input
Connection diagram part 1 see page 8
CAN bus4)
interface
CAN bus4)
interface
CAN bus4)
interface
ISOBUS
interface
SAE J2716 SENT sensor interfaces /
digital inputs with pull-up and
pull-down resistor
5 V analog / digital inputs
pull-down or pull-up
configurable in software
10 V analog / digital inputs
pull-down configuration
Proportional output
32 V analog input
Proportional output
32 V analog input
Proportional output
32 V analog input
20 mA LED LS output
32 V analog input
20 mA LED LS output
32 V analog input
20 mA LED LS output
32 V analog input
12.5 V constant
voltage
12.5 V constant
voltage
High / low-side
output stage 4 .. 20 mA / 0 .. 5 V /
LED output / 32 V analog input
High / low-side
output stage
4 .. 20 mA / 0 .. 5 V /
LED output / 32 V analog input
High speed CAN
with diagnostics /
flashing function
High speed CAN
with wake up function
High speed CAN
with cut off capability
High speed CAN
with cut off capability and
ISOBUS termination
LIN
High active
High or low active
Footer see page 10

Bosch Rexroth AG, RE 95206/08.2018
10 RC10-10 Series 31 | BODAS Controller
Connection diagram
Footnotes for the connection diagram
1) Short, low-resistance connection from a case screw to the vehicle
ground.
2) Own ground connection to battery (chassis possible).
3) Loads connected to low side outputs must be powered from high
side outputs of the same controller. Stand-alone operation of low
side outputs is not permissible.
Deviations from that rule require additional measures. Please con-
tact Bosch Rexroth.
Combinations between high side and low side outputs different
from the ones shown are possible. These are examples only. For
more information see safout() function in the API manual.
4) CAN bus: 120 Ω termination resistor and twisted line necessary.
5) Constant voltage sources can be used as sensor supply or switch-
ing voltage for switches/push-buttons.
6) Can be adjusted to the actual current consumption of the consum-
ers and must be adjusted to the permissible loading of the lines
and pins.
7) If deactivated during operation, data will not be saved in the non-
volatile memory and there will be no after run.
8) First deactivation channel: deactivation with level < 4 V (open /
cable break); activation with level > 7 V (switch to terminal 30 or
30_1). When deactivated the respective main switch VP_x is off.
The main switches can be deactivated together (as shown) or sep-
arately.
9) Second deactivation channel: deactivation with level > 3 V (open /
cable break); activation with level < 0.4 V (switch to ground). The
second deactivation channel shuts of output stage control via the
processor’s emergency stop function.
For more information on deactivation channels please see the re-
spective programming manual and safety-relevant project planning
instructions.
10) Terminal 31 (PGND) and sensor grounds (SGND_x) are joined at a
star point in the controller and are connected to the housing.
SGND_1 shall be used for the ground connection of analog sensors
and SGND_2 shall be used for the ground connection of digital sen-
sors.
11) The total current out of OUT_1 and OUT_2 must not exceed 6 A.
The total current out of OUT_3 and OUT_4 must not exceed 6 A.
The designations (A), (B), (C) indicate the respective ADC channel
used for this input or current feedback.

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Overview of functions
11
Overview of functions
Pin Description Main function Alternative functions
1, 3, 5 Voltage supply VB
(terminal 30)
Power supply for output stages
Nominal 12 V DC or 24 V DC
Operating range 8 V DC to 32 V DC
11 Voltage supply VB
(terminal 30_1)
Power supply for internal
electronics
Nominal 12 V DC or 24 V DC
Operating range 8 V DC to 32 V DC
A wire with 0.75 mm² cross section
must be used for this pin
23 Ignition key
(terminal 15)
Switch-on signal
power up with VB
2, 4, 6 Power ground PGND Power supply ground
Internally connected to each other
and to pins 56 and 53
56 Sensor ground SGND_1 Sensor ground for analog sensors
53 Sensor ground SGND_2 Sensor ground for digital sensors
9
Hardware Inhibit HW_INH_1
Pull-Down resistor
261 kΩ to GND
Primary activation input for VP_11)
main switch
Activation level > 7 V
(switch to terminal 30 or 30_1)
Deactivation level < 4 V
(open / cable break)
18
Hardware Inhibit HW_INH_2
Pull-Down resistor
261 kΩ to GND
Primary activation input for VP_21)
main switch
Activation level > 7 V
(switch to terminal 30 or 30_1)
Deactivation level < 4 V
(open / cable break)
20 SW_INH / IN_38
Pull-up resistor
10 kΩ to 5 V
Secondary activation input SW_INH
Activation level < 0.4 V
(switch to ground)
Deactivation level > 3 V
(open / cable break)
Digital input IN_38
Active low
65, 31, 34, 35, 36, 44, 45,
46, 47
IN_1 to IN_9
Pull-Down resistor 118 kΩ
to GND
Analog voltage input
Measuring range nominal 0 to 5 V
Resolution 12 bits
Resolution 1.44 mV / bit
Accuracy ± 3 % at 5 V
Filter limit frequency 224 Hz
Digital input
Switching threshold configurable in
software (max. 5 V)

Bosch Rexroth AG, RE 95206/08.2018
12 RC10-10 Series 31 | BODAS Controller
Overview of functions
Pin Description Main function Alternative functions
19, 37, 38, 39, 40, 41 IN_14 to IN_19
Pull-down configuration:
6.9 kΩ pull-down to GND
(default after reset)
Pull-up configuration:
118 kΩ pull-down to GND
and 7.4 kΩ pull-up to 5 V
Open pin voltage 4.7 V
Analog voltage input
Measuring range nominal 0 to 5 V
Resolution 12 bits
▶ in pull-down configuration 1.40mV/bit
▶ in pull-up configuration 1.44mV/bit
Accuracy ± 3 % at 5 V
Filter limit frequency:
▶ in pull-down configuration 264 Hz
▶ in pull-up configuration 224 Hz
Digital input
Switching threshold configurable in
software (max. 5 V)
42, 43 IN_20, IN_21
Pull-Down resistor
78 kΩ to GND
Analog voltage input
Measuring range nominal 0 to 10 V
Resolution 12 bits
Resolution 3.01 mV / bit
Accuracy ± 5 % at 10 V
Filter limit frequency 180 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 10 V)
66, 67, 68, 69 IN_22 to IN_25
Pull-Down resistor
14.4 kΩ to GND if used as
analog voltage input
Do not switch to battery
voltage!
Analog current input
Measuring range nominal 4 to 20mA
Accuracy ± 6.5 % at 20 mA
Load in current measurement mode
244 Ω
Analog voltage input
Measuring range nominal 0 to 5 V
Resolution 12 bits
Resolution 1.44 mV / bit
Accuracy ± 3 % at 5 V
Filter limit frequency 224 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 5 V)
62, 24, 25, 26 IN_34 to IN_37
Pull-down resistor
29 kΩ to GND
and
Pull-up resistor
1.2 kΩ to 5 V
Open pin voltage 4.8 V
Do not switch to battery
voltage!
Resistance input
Measuring range 0 .. 50 kΩ
Temperature input
Measuring range -50 .. 150 °C
Can be used with Bosch Rexroth
TSA or TSF (PTC) temperature sen-
sors or Bosch NTC temperature sen-
sors. For details see API manual.
Analog voltage input
Measuring range nominal 0 to 5 V
Resolution 12 bits
Resolution 1.44 mV / bit
Accuracy ± 3 % at 5 V
Filter limit frequency 1647 kHz
Digital input
Switching threshold configurable in soft-
ware (max. 5 V)
Frequency input
For frequency sensors that switch between
typically 0 V and 5 V (e.g. Bosch DG23i)
Low level < 1.7 V / high level > 3.5 V
Measurable range up to 20 kHz
▶ minimal pulse length 25 µs
▶ the lower frequency limit depends on the
period used in software for the fre-
quency acquisition
Do not use for active frequency sensors
that switch or pull-up to battery voltage!

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Overview of functions
13
Pin Description Main function Alternative functions
52, 54, 55, 57, 48, 58, 59, 60 IN_39 to IN_46
50 kΩ pull-down to GND
and 15 kΩ pull-up to 5 V
Open pin voltage 3.9 V
Input capacitance typical
168 pF
SAE J2716 SENT
(Single Edge Nibble Transmission)
sensor signal input
For sensor supply use VSS_x with 5V
For sensor ground use SGND_2
Filter limit frequency 140.8 kHz
Check API manual for SENT signal
evaluation.
Digital input
Low Level < 1.6 V
High Level > 3 V
(max. 5 V)
10, 30, 12, 13, 70, 61 IN_26 to IN_31
Only in DSM configuration:
Pull down resistor
196 Ω to GND
Active frequency sensor
input or analog input con-
figuration:
Pull-down resistor
11.2 kΩ to GND
Frequency input for Bosch Rexroth
DSM speed sensors
The DSM signal includes frequency,
direction and diagnosis information
Low Level < 8.4 mA
High Level > 11.2 mA
Measurable range 0 .. 10 kHz
(relates to 5 kHz tooth frequency
due to duplication of frequency by
DSM)
DSM standstill detection can be
used
Filter limit frequency 26.2 kHz
Frequency input for active speed sensors
that switch to high level
Low Level < 1.7 V
High Level > 2 V
Measurable range up to 20 kHz
▶ minimal pulse length 25 µs
▶ the lower frequency limit depends on the
period used in software for the fre-
quency acquisition
Filter limit frequency 26.2 kHz
The phase between two frequency inputs
can be used to acquire the direction
Phase 1: IN_26 / IN_27
Phase 2: IN_28 / IN_29
Phase 3: IN_30 / IN_31
Analog voltage input
Measuring range nominal 0 to 32 V
Resolution 12 bits
Resolution 8.78 mV / bit
Accuracy ± 6 % at 32 V
Filter limit frequency 700 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 32 V)
63, 64 IN_32 to IN_33
Pull-down resistor
40 kΩ to GND and
Pull-up resistor
6.8 kΩ to 5 V
Open pin voltage 3.6 V
Frequency input for active speed
sensors that switch to low level
Low Level < 1.3 V
High Level > 3.5 V
Filter limit frequency 28.5 kHz
Measurable range up to 20 kHz
▶ minimal pulse length 25 µs
▶ the lower frequency limit depends
on the period used in software for
the frequency acquisition
The phase between these two
frequency inputs can be used to
acquire the direction
Phase 4: IN_32 / IN_33
Analog voltage input
Measuring range nominal 0 to 32 V
Resolution 12 bits
Resolution 8.78 mV / bit
Accuracy ± 6 % at 32 V
Filter limit frequency 700 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 32 V)

Bosch Rexroth AG, RE 95206/08.2018
14 RC10-10 Series 31 | BODAS Controller
Overview of functions
Pin Description Main function Alternative functions
7, 29 OUT_1, OUT_3
Pull-up resistor 21.5 kΩ
to supply voltage
Free-wheeling diode includ-
ed for inductive loads
Power supply centrally
switchable via VP_1
Open pin voltage 7.5 V with
Vbat = 12 V
The total current out of
OUT_1 and OUT_2 must not
exceed 6 A. The total cur-
rent out of OUT_3 and
OUT_4 must not exceed 6 A.
Proportional high-side output stage
Maximum current 4 A
Current control range 0.1 .. 4 A
PWM frequency 50 .. 250 Hz
Closed loop current control with
current measurement over shunt
resistor
Software controllable duty cycle for
open loop current control
Switching high-side output stage
Maximum current 4 A
100 % duty cycle
76, 79 OUT_2, OUT_4
Pull-up resistor 21.5 kΩ
to supply voltage
Free-wheeling diode includ-
ed for inductive loads
Power supply centrally
switchable via VP_1
Open pin voltage 7.5 V with
Vbat = 12 V
The total current out of
OUT_1 and OUT_2 must not
exceed 6 A. The total cur-
rent out of OUT_3 and
OUT_4 must not exceed 6 A.
Proportional high-side output stage
Maximum current 3 A
Current control range 0.1 .. 3 A
PWM frequency 50 .. 250 Hz
Closed loop current control with
current measurement over shunt
resistor
Software controllable duty cycle for
open loop current control
Switching high-side output stage
Maximum current 3 A
100 % duty cycle
78, 77, 81, 80, 75, 74, OUT_5 to OUT_10
Pull-up resistor 21.5 kΩ
to supply voltage
Free-wheeling diode in-
cluded for inductive loads
Power supply centrally
switchable via VP_1
Open pin voltage 7.5 V
with Vbat = 12 V
Switching high-side output stage
Maximum current 3 A
100 % duty cycle
91, 92, 93, 94 OUT_11 to OUT_14
Pull-up resistor 21.5 kΩ
to supply voltage
Free-wheeling diode in-
cluded for inductive loads
Power supply centrally
switchable via VP_2
Open pin voltage 7.5 V
with Vbat = 12 V
Switching high-side output stage
Maximum current 3 A
100 % duty cycle

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Overview of functions
15
Pin Description Main function Alternative functions
84, 85, 82, 83 OUT_19 to OUT_22
Pull-down resistor 146 kΩ
to GND
Free-wheeling diode in-
cluded for inductive loads
Proportional low-side output stage
Maximum current 3 A
Current control range 0.1 .. 3 A
PWM frequency 100 .. 1000 Hz
Closed loop current control with
current measurement over shunt
resistor
Software controllable duty cycle for
open loop current control
Switching low-side output stage
Maximum current 3 A
100 % duty cycle
51, 73 OUT_23, OUT_24
Pull-down resistor 146 kΩ
to GND
Free-wheeling diode in-
cluded for inductive loads
Proportional low-side output stage
Maximum current 4 A
Current control range 0.1 .. 4 A
PWM frequency 100 .. 1000 Hz
Closed loop current control with
current measurement over shunt
resistor
Software controllable duty cycle for
open loop current control
Switching low-side output stage
Maximum current 4 A
100 % duty cycle
14, 15 OUT_15, OUT_16
Pull-down resistor
55 kΩ to GND
Power supply centrally
switchable via VP_1
PWM control signal output
Output voltage 0 % .. 75 % VB
Output resistance 3.6 kΩ
Minimal external capacitor 100 µF
Maximum PWM frequency 5 kHz
Analog voltage input
Measuring range nominal 0 to 32 V
Resolution 12 bits
Resolution 8.09 mV / bit
Accuracy ± 6 % at 32 V
Filter limit frequency 483 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 32 V)
16, 17 OUT_17, OUT_18
Pull-down resistor 55 kΩ to
GND
Power supply centrally
switchable via VP_2
PWM control signal output
Output voltage 0 % .. 75 % VB
Output resistance 3.6 kΩ
Minimal external capacitor 100 µF
Maximum PWM frequency 5 kHz
Analog voltage input
Measuring range nominal 0 to 32 V
Resolution 12 bits
Resolution 8.09 mV / bit
Accuracy ± 6 % at 32 V
Filter limit frequency 483 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 32 V)
90, 87, 86
OUT_25 to OUT_27
Pull-down resistor
55 kΩ to GND
Low-side switch
Maximum permissible nominal cur-
rent 20 mA
For LED output use serial resistor
Maximum voltage at connector
pin 5 V if used as Low-side switch
Analog voltage input
Measuring range nominal 0 to 32 V
Resolution 12 bits
Resolution 8.09 mV / bit
Accuracy ± 6 % at 32 V
Filter limit frequency 483 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 32 V)

Bosch Rexroth AG, RE 95206/08.2018
16 RC10-10 Series 31 | BODAS Controller
Overview of functions
Pin Description Main function Alternative functions
88, 89
OUT_28 to OUT_29
Pull-down resistor
37 kΩ to GND
High-side switch for analog output
Current output 4 .. 20 mA
Accuracy in steady state: ± 3 % at
20 mA
Voltage output 0 .. 5 V
Accuracy in steady state: ± 3 % at
5V with 200 Ω external ohmic resis-
tance
Low-side switch
Maximum permissible nominal current
20mA. For LED output use serial resistor
Maximum voltage at connector
pin 5 V if used as Low-side switch
Analog voltage input
Measuring range nominal 0 to 32 V
Resolution 12 bits
Resolution 8.09 mV / bit
Accuracy ± 6 % at 32 V
Filter limit frequency 483 Hz
Digital input
Switching threshold configurable in soft-
ware (max. 32 V)
22
VSS_1 Sensor supply output voltage
Nominal on-voltage 5 V
Accuracy ± 2.5 %
Voltage off < 0.5 V
Maximum output current 300 mA
Maximum external capacity 100 µF
Output voltage ratiometric to ADC
reference voltage
8
VSS_2
Do not switch on VSS_2 in
software if no load is con-
nected.
A minimal current of
5mA/ µF is required if a
load is connected to VSS_2
to avoid diagnosis errors.
Sensor supply output voltage
Nominal on-voltage software config-
urable as 3.3 V, 5 V, 8.5 V, 10 V
Accuracy ± 10 %
Voltage off < 0.5 V
Maximum output current 300 mA
Maximum external capacity 100 µF
21
LIN
Pull-up resistor 1 kΩ to Vbat
Local Interconnect Network (LIN)
Single wire bus interface
Physical layer according to ISO 9141
Maximum transfer rate 20 kBaud
27, 28 CAN1_H, CAN1_L CAN interface
2.0 B high speed CAN interface
according to ISO 11898
Maximum transfer rate 500 kBaud
for vehicle use
(1 MBaud selectable with limited
EMC characteristic, e.g. for flashing)
Diagnosis interface
Flashing interface
49, 50 CAN2_H, CAN2_L CAN interface
2.0 B high speed CAN interface ac-
cording to ISO 11898
Maximum transfer rate 500 kBaud
for vehicle use
(1 MBaud selectable with limited
EMC characteristic)
Wake-up
Any CAN traffic can wake up the RC in si-
lence mode
Shut off capability
CAN transceiver can be switched off

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Overview of functions
17
Pin Description Main function Alternative functions
71, 72 CAN3_H, CAN3_L1) CAN interface
2.0 B high speed CAN interface ac-
cording to ISO 11898
Maximum transfer rate 500 kBaud
for vehicle use
(1 MBaud selectable with limited
EMC characteristic)
Shut off capability
CAN transceiver can be switched off
32, 33 CAN4_H, CAN4_L1) CAN interface
2.0 B high speed CAN interface ac-
cording to ISO 11898
Maximum transfer rate 500 kBaud
for vehicle use
(1 MBaud selectable with limited
EMC characteristic)
Due to the ISOBUS termination
CAN_4 can only be used as the first
or last device on a CAN bus. Exter-
nal 120 Ω termination must not be
applied.
ISOBUS interface
Active bus termination to 2.5 V based on
ISO 11783 standard (full compliance not
claimed)
Termination supply derived from RC power
supply
Resistance approx. 2 kΩ between CAN4_H
and CAN4_L
Analog voltage input
Measuring range nominal 0 to 32 V for
CAN_4 diagnosis only. 55 kΩ Pull-Down
resistor included. Do not use as analog
input.
Shut off capability
CAN transceiver can be switched off
Pin numbers in bold are for contact type BDK 2.8
Pin numbers in italic are for contact type MQS 1.5 CB
All other pins are for contact type BCB 0.6
1) The activation of a main switch requires the testing of switch off
paths within the RC control unit. During this test both main swit-
ches, CAN_3 and CAN_4 are switched off shortly several times even
if one main switch has been activated already. Please take note of
this behavior especially if the main switches are not activated at
the same point in time.

Bosch Rexroth AG, RE 95206/08.2018
18 RC10-10 Series 31 | BODAS Controller
Dimensions
Dimensions [mm]
Dimensions
44
37.9
13.5±1
146
85
196.6
54.3
95.7
98.9
241.2
142.3±2.5
ø7±0.3
8±4
23.5±4
181±1 188±1
203±1
24.2±1 59±1
167.3
54.6±1
132.7
24.4±0.4
40
40.15±1.5
ab
d
c
Long-side view
Top view
Display without scale
Bottom view
Side view with pulled connector
Fixing:
▶ The BODAS controller must be fixed at
4 positions (a, b, c and d).
▶ The BODAS controller has to be fastened in the
vehicle so as to avoid bouncing against other
vehicle parts and additional fastening elements
of the controller.
▶ The maximum tightening moment for fastening
the BODAS controller with M6 screws is 10 Nm.
This tightening moment refers to a screw
connection without washer.
▶ If washers are used, the equivalent tightening
moment has to be determined.
▶ Rexroth’s consent is required if fixing is different
from above.
▶ The minimum gap between the bottom and the
screw on surface of the vehicle is 1 mm.
▶ Even surface of customers screw on surface
between the points a, b, c and d is 0.5
▶ The wiring harness must be supported
mechanically at the controller mounting position
(distance <150 mm) in a way that the excitation
of the ECU is in phase (e.g. at the ECU screw on
plate).
▶ The cable harness should be fixed such that the
assembly has sufficient room to exit the BODAS
controller without putting too much force on the
mating connector.
▶ If the mounting surface is not sufficiently even,
place flexible compensating elements between
the fixing points of the BODAS controller and
the mounting surface
Harness plug
mounted
Harness plug
not mounted
Label Cover
DAE
PCE

RE 95206/08.2018, Bosch Rexroth AG
BODAS Controller | RC10-10 Series 31
Installation position
19
Installation position
No standing or permanently running water allowed in
the sealing area of the pressure equalizing element.
Install accordingly.
No standing or permanently running water allowed in
the revolving groove area (cover-bottom-connector).
Install accordingly

Bosch Rexroth AG, RE 95206/08.2018
20 RC10-10 Series 31 | BODAS Controller
Mating connector
Mating connector
The 154-way plug connector is divided in 2 modules
(94-and 60-way). Only the 94-pin module is used.
The 60-pin module is closed and unused. The 1 928 xxx
numbers stated below are Bosch designations. Technical
details about these documents and part numbers are
available at www.bosch-connectors.com. The numbers
prefixed with “TE” are designations of TE connectivity
(previously Tyco Electronics). Visit www.te.com for
information on these items.
Assembly instruction 1 928 A01 09M
Technical customer documentation 1 928 A01 00T
Offer drawing (assembly) 1 928 A00 325
Offer drawing (carrier) 1 928 A00 326
Final check instruction 1 928 A00 05E
View of connector strip
Terminal designation
Contact BCB 0.6 Contact MQS 1.5 CB Contact BDK 2.8
Row 1: Pins 8 to 28 Row 1: Pin 7 Pins 1 to 6
Row 2: Pins 30 to 50 Row 2: Pin 29
Row 3: Pins 52 to 72 Row 3: Pin 51
Row 4: Pins 74 to 94 Row 4: Pin 73
Tools
Contact Type Line cross section
in mm2
Hand Crimping Wear part set Automatic
crimping
Extraction tool Process
specification
contact
BCB 0.6 0.35 bis 0.5 1 928 498 753 1 928 498 749 1 928 498 751 1 928 498 755 1 928 A00 70M
BCB 0.6 0.75 1 928 498 753 1 928 498 750 1 928 498 752 1 928 498 755 1 928 A00 70M
MQS 1.5 CB 0.75 bis 1.5 TE 539635-1
with insert TE 539692-2
TE 541662 TE 6-1579007-0 TE 114-18286
BDK 2.8 0.5 bis 1.0 1 928 498 161 1 928 498 163 1 928 498 165 1 928 498 167 1 928 F00 025
BDK 2.8 1.5 bis 2.5 1 928 498 162 1 928 498 164 1 928 498 166 1 928 498 167 1 928 F00 025
Cables
Use FLKr Type “B” cables.