crosscontrol CrossFire IX User manual

Revision: 1.0
TECHNICAL M ANUAL
2017-12-07
CrossFire IX
Technical manual
www.crosscontrol.com

CrossFire IX
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Technical manual
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Contents
1. Introduction ................................................................................................................3
1.1. Product models.....................................................................................................3
1.2. Conventions and defines.......................................................................................4
1.3. Identification.........................................................................................................5
1.4. Maintenance and care.........................................................................................5
1.5. Supporting documentation ...................................................................................5
2. CrossFire IX device overview .......................................................................................6
3. Mechanical installation ...............................................................................................7
3.1. Mounting..............................................................................................................7
3.2. Installation position................................................................................................7
3.3. Heat dissipation ....................................................................................................7
3.4. Environmental considerations................................................................................8
4. Electrical installation....................................................................................................9
4.1. Connectors...........................................................................................................9
4.2. Power supply installation......................................................................................11
5. Basic operations........................................................................................................13
5.1. Software and installation.....................................................................................13
5.2. Starting up..........................................................................................................13
5.3. Shutting down.....................................................................................................13
6. Interface overview ....................................................................................................14
7. Interface Characteristics............................................................................................15
7.1. Power interface..................................................................................................15
7.2. Communication interfaces..................................................................................16
7.3. Analog inputs 1-8................................................................................................17
7.4. Digital inputs 1-4..................................................................................................17
7.5. Frequency inputs 1-2...........................................................................................18
7.6. Outputs 1-8.........................................................................................................18
7.7. Wi-Fi....................................................................................................................21
7.8. Sensor supply......................................................................................................21
7.9. Ignition signal......................................................................................................21
7.10. Firmware update..........................................................................................22
7.11. Digital inputs as ID interface..........................................................................22
7.12. Status LED indicator ......................................................................................22
7.13. Memory .......................................................................................................24
7.14. RTC and back-up battery .............................................................................24
7.15. Diagnostics...................................................................................................24
8. Software overview.....................................................................................................25
9. Specifications............................................................................................................26
9.1. Environmental specifications ...............................................................................26
9.2. Certifications.......................................................................................................27
9.3. Weight and dimensions.......................................................................................28
10.Technical Support......................................................................................................30
11.Trademark, etc..........................................................................................................31

CrossFire IX
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1. Introduction
CrossFire IX is the 2nd productonCrossControl’s newI/OController platform.It is a compact 32-
bit I/O module, designedfor advanced hydraulicscontrol in Agricultural and Construction
equipment.Itoffers 22 I/O channels, versatile and configurable in software. Fieldbus network
capabilities include bothCANopenand J1939(planned). Wirelesscommunicationis offeredas an
option, making this module into a Smart connect interface in highly cost sensitive systems.
Business rationale:
Smaller I/Omodule basedupon the high-end Crossfire SX.
Accuracy oninputs and outputs givesan outstanding performance in machine c ontrol.
A smaller I/Ocount and a muchlower price makes this product a perfect CANopenslave or
J1 939 device (planned) in a sub system or on machineswhere lessI/Ois needed.
A strong companion withour displays when serious I/O capabilitiesare needed.
Rich feature list. Can solve most tasksincluding hydraulic v alve control, sensor inputs,
buttondecoding, lampsand more.
Technical summary:
CF IX is able to drive 4 proportional valveswith current feedback and 4 on-off v alves
simultaneously. On-off outputs canbe also usedin PWM mode withlimited current feedback
which canbe usedfor diagnostics. CrossFire IX contains8 analog inputs, which can be
configuredindividually to accept voltage (0-10V/0-32V) and 4-20mAcurrent signals. In
addition there are 6 dedicateddigitalinputs of which 2 can be configured for frequency input
or to form a dualchannelencoderinput.All inputs(digital and analog) canbe individually
configuredto have pull-up or pull-downresistor activated.
This technical manual providesimportantinformation regarding the device’s hardware and its
basic usage. For software, pleasesee chapter 1.5 Supportingdocumentation.
1.1. Product models
Crossfire IX is based upon the CrossFire SX, a very flexible platformthateasily can be adapted.
Reduced complexity is a guiding principle in the design with the purpose to facilitate ease of:
adaptability, testing, code readabilityand to further raise the quality.
CrossFire IX is built in three productvariants that share the same hardware architecture,enclosure
and connectors. The PCB is the same for all versions but is populateddifferently.
Part nr.
Product variant
C000141-40
Crossfire IX, wireless (customer branded)
C000141-50
Crossfire IX, CANopen slav e
C000141-70
Crossfire IX, CANopen slav e with data logger option

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Feature
C000141-40
C000141-50
C000141-70
Analog inputs
81
82
82
Digital inputs
4
4
4
Frequency inputs
-
2
2
Standard PWM
2
4
4
Adv anced PWM
-
4
4
CAN
1
1
1
Protocol
CANopen
CANopen
CANopen
FRAM
2kbyte
8 kbyte
8 kbyte
FLASH
4 Mbyte
-
4 Mbyte
Wi-Fi
YES
-
YES
12V sensor supply
-
YES
YES
Status LED
-
YES
YES
Real Time Clock with battery
-
-
YES
1V ol tage (0..10V), Current (4..20mA)
2V oltage (0..10/32V), Cu rrent (4..20mA), Pull up/down
1.1.1. Customized modules
The platformenablesadditionalcustomizationof hardware and software. Described herein are the
features included using product models described above. Any additional feature will b e described in
model specific documentation.
1.2. Conventions and defines
The followingdefinitions are usedto separate model specific details within this document.The
observe symbolis also usedto highlight such difference.
The ‘observe’ symbol is used to highligt informationregarding differencesbetweenproduct
models and options.
The ‘exclamation’ symbol is used to highlight information that is especially important for the
end-user.
Different text formats usedin this document are described in the table below:
Format
Use

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It alics
Names, designations and references.
Bolded
Important information.
1.3. Identification
Each device has a label with article number,serial number and revisionwhich identify your unique
device. Take note of these numbers. During service and other contact withthe supplier it is
important to be able to provide this information.
1.4. Maintenance and care
Handle the device with care and pay attention to the following handling directives:
Disconnect all cablesto the device during welding or when performing other service to the
machine imposing a risk of damaging electronic devices.
Service and repair to the device shall only be made by authorised personnel. If the device is
opened by unauthorised personnel, itswarranty will be voided.
Avoid using alkaline,alcoholic or other chemicals for cleaning; doing so may damage the
device.However,small amount isopropyl alcohol maybeusedfor removingharsh stains.
Avoidsprayor apply water oralcoholdirectly to the device.Instead, dampen the cloth
lightly before using it for cleaningthe device.
Nev er use high-pressure air, water or steam to clean the device.
1.5. Supporting documentation
This technical manual providesimportantinformation regarding the device’s hardware, properties
and basic usage. It’s very important to read this manual before installation and usage of the unit.
Not following the instructions around installation, and operationof the unit may lead to reduced
safety of operators and machinery.
In addition to this document other supportingdocumentsareavailable on our support site:
CrossFire IX - CANopen Slave Developers Guide.docx
- Describesthe software specifics for the Crossfire I X,CANopen slave product

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2. CrossFire IX device overview
The top side of CrossFire IX holds a labelwith informationabout product article number, serial
number and revision. It also displays a status LED, see chapter 7.12 Status LEDindicator.
On the connector side of the device there are one AMP 35-pinmulti-pinconnectors mounted
holding the CrossFire IX I/O interface. More Informationabout connectors can be found in
chapter 4.1 - Connectors
The enclosure is built in glass fibre reinforced nylon. For extreme moisture and condense
protection, the unit is filled with a silicone gel. This potting also improves the shock and vibration
resistance.
Identification
label
Status LED

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3. Mechanical installation
This chapter contains recommendations for mechanical installationof the CrossFire IX device.
3.1. Mounting
CrossFire IX is designedwith a three pod mounting footprint that allows for flexible mounting.
However, fastening the unit to an unevensurface may stress the enclosure, or possibly evenflex the
circuit board inside, leading to a premature failure.
Ensure the mounting bolts are of grade 8.8 or higher. The mounting holes have clearance for M6
bolts.
The recommended torque for the screwsis 9.8Nm for a mounting plate in steelor whenusing a
nut.
Note: recommendedtorque must be checkedagainst mounting plate material.
Ensure there is adequate clearance to insert/remove allof the connectors.
3.2. Installation position
Align CrossFire IX so that the cable entries of the connectors are not face upwards.
3.3. Heat dissipation
To enable sufficientc ooling, the device must be installedto allow ambient air to circulate around it.
A clearance of at least 50 mmaround the device is recommended.

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Ask CrossControlfor recommendations about sandwich mounting.
3.4. Environmental considerations
To ensure proper and reliable operation of the device,followthe recommendations below:
The device shall be placedin a way thatpreventsthe unit from direct exposure to water or
sunlight.
To enable sufficient cooling, the device mustbe installedto allow ambient air to circulate
around it. A clearance of at least 50 mm around the device is recommended.
Avoid installing the device near hot air vents or in direct sunlight.
To maintain the device’s IP classification, the connector must be attached. Blind plugs for
not connectedsignals/cables are also necessary.
Loose mounting bolts are a commoncause for excessive v ibration. They may come loose
due to improper mounting techniques suchas omitting thread locker or lock washers, over-
or under-tightening. Proper tightening requires clean dry bolts and a to rque wrench.
Installthe device and itscables in sucha way that they are not subjectto excess vibrations
or other mechanical stress.
If the unit is exposed to chemicals, water, dirt, etc it’s recommended to cleanit according
to chapter 1 .4 Maintenance and care as soon as possible.
Crossfire IX product C000141-70and C000141-40that includes a Wi-Fi module should be
installedandoperatedwith minimum distance of 20cmto yourbody to comply with
radiation exposure limitsfor an uncontrolledenvironment.

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4. Electrical installation
This chapter contains details and recommendations for electrical installation of the CrossFire IX
device.
4.1. Connectors
The connector is accessible from the side of the CrossFire IX unit.The connector, an A MP 35-pin
multi-pin connector,is marked 1(X1 ).
X1 connector black, TEc onnectivity 1 -776163-1 (Mating connector,e.g. 776164-1)
Use cautionand avoid plugging/unplugging of connectorswhenthe CrossFire IX unitis powered
up. Always replace damaged cables.
4.1.1. Connector layout
Note that descriptions herein refer to the connectors located on the device and not the cable-side
connectorswhich are attached to the device. Though,the pinout numbering and signal descriptions
are the same.
1
AIN 1
2
AIN 2
3
AIN 3
4
DIN 1
5
DIN 2
6
UB
7
HS1
8
HS2
9
HS3
10
HS4
11
HS5
12
HS6
13
AIN 4
14
AIN 5
15
AIN 6
16
DIN 3
17
FIN 1
18
UB
19
IGN
20
12V
21
12V
22
12V
23
HS7
24
AIN 7
25
AIN 8
26
GND
27
DIN 4
28
FIN 2
29
GND
30
GND
31
GND
32
CANH
33
CANL
34
CANS
35
HS8
HS x
High side output 1-4 (standard PWM)
HS x
High side output 5-8 (current controlled PWM)
GND
Ground
UB
Battery input
CAN_L
CAN bus x low
CAN_H
CAN bus x high
CAN_S
CAN bus x shield
AIN x
Analog input 1-8
DIN x
Digital input 1-4
FIN x
Frequency input 1-2
IGN
Ignition input
12V
12V sensor supply
X1 connector

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Pin
Signals C000141-40
Signals C000141-50
1
Analog input 1
Analog input 1
2
Analog input 2
Analog input 2
3
Analog input 3
Analog input 3
4
Digital input 1
Digital input 1
5
Digital input 2
Digital input 2
6
Battery input
Battery input
7
High side output 1 (standard
PWM)
High side output 1 (standard PWM)
8
High side output 2 (standard
PWM)
High side output 2 (standard PWM)
9
[No signal]
High side output 3 (standard PWM)
10
[No signal]
High side output 4 (standard PWM)
11
[No signal]
High side output 5 (current controlled PWM)
12
[No signal]
High side output 6 (current controlled PWM)
13
Analog input 4
Analog input 4
14
Analog input 5
Analog input 5
15
Analog input 6
Analog input 6
16
Digital input 3
Digital input 3
17
[No signal]
Frequency input 1
18
Battery input
Battery input
19
Ignition input
Ignition input
20
Sensor supply 12 V
Sensor supply 12 V
21
Sensor supply 12 V
Sensor supply 12 V
22
Sensor supply 12 V
Sensor supply 12 V
23
[No signal]
High side output 7 (current controlled PWM)
24
Analog input 7
Analog input 7
25
Analog input 8
Analog input 8
26
Ground
Ground
27
Digital input 4
Digital input 4
28
[No signal]
Frequency input 2
29
Ground
Ground
30
Ground
Ground
31
Ground
Ground
32
CAN high
CAN high
33
CAN low
CAN low
34
CAN shield
CAN shield
35
[No signal]
High side output 8 (current controlled PWM)
4.1.2 Cable installation
Cables shall be installed in such a way that they don’t run any risk of being damaged, pinched or
worn.
Avoid excessive bending and twisting of cables.
Use strain-relief oncablesnear the device to minimize stress on cables and connectors.
Properly snap the connectors to give good contact and avoid unnecessarystrain.
Shielded cables are recommended and in some cases necessaryto ensure reliable
communication and appliance withindustrial EMC standards.

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4.2. Power supply installation
This chapter describes installation of CrossFire IX in vehicles or other machines. The principle is
the same also for other types of installations.
For connector pinout, see chapter 4.1 Connectors.
Before installing the device into a vehicle or other machinery, carefully read throughthe
instructionsbelow:
Wire gauge for the supply input shall be dimensioned with respect to cable length,supply
v oltage, maximum allowedvoltage drop, start-up current and maximum current
consumption of the device.A sa guideline:
oIn applications which use several outputsat a time, withmedium to high loads, the
recommendedpower supply cable area is 1.31 mm2(AWG 16)
oIn applications which use many outputs at a time, withmediumto high loadsor
long cable harness length, two power supply cables are recommended.
oIn applications which use none or few outputs at a time, with lowloads, the power
supply cable area might be 0.5 mm2
When connecting the device to a vehicle’s or machine’s battery (or other power source with
high current capability), alwaysapply fusing to prevent cable fire in case of short circuit.
oThe fuse shall be located as close to the battery/power source as possible.
oFuse rating shallbe dimensioned with respect to wire gauge maximum current
rating and inrush current of the load.
oAs a guideline, a fuse with 2 A - 10 A current rating should be used dependingon
application, wiring and fuse characteristics.
The device’sexternal on/off control signal(connector X1, pin 19) should be connected to
the positive supply line via the vehicles turnkey switch or a separate on/off switch (see “S2”
in schematic below).
oRememberto apply fusing also to theon/off control signal.
oSeveral CrossFire IX devicesmay be controlled by the same external on/off switch
by joiningtheir external on/off control signals.The current drawn from thissignal
(when turnedON) is up to 3.0 mA for each device attached. The fuse rating and
wire gauge shall be dimensionedfor the total switch current.
oIt is possible to disable the handling of the ignition signal through object dictionary
for the CANopenversion.
If the v ehicle or machine has a main power switch (see “S1” in schematic below), the
device’s power supply and on/off signalshall be connected after this switch. Observe that
this switchshall not be used for switching the device on/off during normal operation. Itis
only intendedfor disconnecting the battery to prevent draining of the battery during
prolonged stalling intervals of the v ehicle or machine.

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F1
2A - 10 A
S1
Main switch
Battery
F2
xx A
X1.6
X1.29
S2
Ignition switch
X1.19
AWG 16
AWG 16
CrossFire IXGND Ub
S1
Main switch
Battery
F2
xx A
X1.6
X1.18
X1.29
X1.30
S2
Ignition switch
X1.19
AWG 16
AWG 16
CrossFire IXGND Ub
2A –7.5A
By connecting the power supply according to the illustration above, with the main switch S1
normally closed, the device willautomatically startwhenthe ignition switchS2 is turned on and
shut down when theswitchis turned off.
4.2.1. Precautions
It is not recommendedto shut of power duringstorage of parameter data.If thisis done, stored
data might be corruptand unit will return to default values.
Be adv ised that the device consumes a small amount of power (1.1 mA @ 24 V, 1.4 mA @ 1 2 V) from
the mainsupply when shutdown (low level on the ignition signal). Therefore,if the device hasbeen
attachedfor a long period of time without the vehicle motor running, the batterymay be drained,
resulting in inability to start up the v ehicle. A main switch for disconnecting the device’s main
supply is highly recommendedin such situations.
Schematic examples for power supply installation of CrossFire IX in vehicles o r other machines.

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5. Basic operations
This sectioncovers basic operationof the device suchas software and installation, start-up, shut-
down and statusnotification. For additional information on device usage and operationalso see the
software user guides for the different product versions specified in chapter 1.5 Supporting
documentation.
5.1. Software and installation
For the CANopenslave version, the unit comes withall software preinstalled. A ll IO needsto be
configuredwith SDOs, as default allinputsand all outputsare disabled.
5.2. Starting up
Make sure that the instructions for mechanicaland electrical installation described in chapter3
and 4 are followed before starting up the CrossFire IX unit the firsttime.
For information about CANnode id andbaudrate, see chapter 7.2.1 CAN.
The CrossFire IX will start up when power is c onnected and active,and the voltage level on the
ignitionpin is above 4V.
For the CANopenslave versionof CrossFire IX the status LEDon the unit willindicate unit status
accordingto the LEDstatus table described in chapter 7.12 Status LEDindicator.
During the startup, unit self-testand diagnostic are performed. If any error is detected the status
LED will flash red,see chapter 7.12 Status LEDindicator.
When the CANopen slavev ersionof CrossFire IX is started up configuration can be done using
SDO commands.
5.3. Shutting down
Removingpower will shut downthe Crossfire IX directly. CrossFire IX has no support for
controlledshutdown whenremoving power. Settingthe ignition signal low while keeping power
will make the CrossFire IX shut downin a controlledfashion.

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6. Interface overview
This sectiondescribes the overall various interfaces of the device.
35 pin connector
Analog inputs x8
Digital inputs x4
Frequency
inputs x2
Standard PWM
outputs x4
Advanced PWM
outputs x4 STM32
RTC
Battery
WiFi module
FRAM
Flash
Temperature
sensor
DC/DC
CAN
12V sensor
supply output
Shift register
IO expansion
Ignition signal
input
Status LED

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7.Interface Characteristics
This sectiondescribes the basic interfaces on the CrossFire IX unit
7.1. Power interface
The CrossFire IX device is specified for a total of up to 12 A output current and special care must be
taken withsupplying power to the device.The device operates witha supply voltage of 8 -32 VDC.
7.1.1. Supply pins
Each pin in theconnector is ratedfor17Aand a maximum of AWG16(1.31 mm2) canbe used.
There are two pins, X1.6 and X1.18, for power input that are connected internally. In most casesit
shouldbe sufficient to use onlyone of these.
7.1.2. Ground pins
There are also 4 ground pins X1.26,X1 .29, X1.30 and X1.31 that are connected internally together.
The ground pins X1.29 and X1.30in the connectorclose to the power pins are intended to be used
for power groundwhenneeded. Loads on high side outputs canbe grounded directly to v ehicle
ground and cause almost no ground returncurrent.
7.1.3. Recommended ground connection scheme
Note once more that allgroundpins are connectedinternally and the connection scheme below is
intendedto facilitate the harness design and to minimize voltage drop on analogsensor returns due
to ground currents.
X1.29 GND X1.26 GND
X1.30 GND
Sensor y
ground
Sensor y
power input
X1.6 UB
X1.18 UB
Vehicle
power
0V
12V/24V
X1.20/21/22
12V Sensor
supply
CrossFire IX has all ground pins
connected together internally
*Power ground
HS OUT xLoad x
Load x return
*
Sensor z
ground
Sensor z
output
Input z
Input y Sensor y
output
Ground pin X1.26 is intended for sensor supply ground/analog input ground.Ground pin X1.31is
intended for CANground or additionalground for inputs.
7.1.4. Power filter and power architecture overview
An overviewo f the power filter and power architecture is shown below.
Filter
capacitors
11 µF
Power
input pins
X1.6
X1.18
Transient
voltage
suppressor
Reverse
polarity
protection
Output
drivers
600
µF Internal
DC/DC

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When connecting power to the unit the 11 µFof filter capacitorsand 600µF of bulkcapacitors are
chargedcausinga shortinitial current peak.
With power connectedand the ignition signal low the device will consume typically 1.1 mA at 24V
and 1 .4 mA at 12V.
When the ignition signalis set highthe DC/DC convertersfor the processing and logic are enabled
and the unit willconsume typically 0.03A at 24Vwith inputs and outputs not connected for the
v ariantwithout Wi-Fi. The variant withWi-Fi will consume typically 0.05A at 24V.
7.2. Communication interfaces
7.2.1. CAN
The CrossFire IX device contains one CAN port thatmeetthe CAN ISO118982.0B specification.
SupportedCAN baud rates are 20 –1 000Kbit/s. The device is optimizedfor baud rates up to 250
Kbit/s witha commonmode input capacitance on CAN bussignals of approximately 150 pF. The
usable baud ratedependson the CANbus topology in terms of bus length,numberof CAN nodes
etc.
The CAN ports have short circuit protectionallowing DC short circuit up to 32Vwithout damage to
the unit. There is no device-internal CANbustermination. CANbus termination must be provided
for externally.
The unit has passedthe electrical testing with standardCAN twistedpaircables, butit is advisable
to use shieldedcables for the CAN interfaces, especially when utilizing high bit rates and/or long
cables. EachCAN porthasits own CAN shield pinwhich is connectedinternallyvia a resistorand
capacitor to ground as shown in the figure below. If shielded CANcable is usedthe CANcable
shield shallbe connected to ground at a single point to avoid ground loops.
At first start up the CAN node id for CAN1 is 1 .The device canbe configuredto use the digital
inputsas node ID address pins (connector X1:4/5/16/27). If these address pins are usedbut
unconnected(floating) the node id for CAN1 will be setto 16 as default. For informationabout how
the pin patternrelates to node id, see chapter 7.11 Digital inputs as IDinterface.
CAN node id can also be configured through software. CAN baud rate is setto 250kbit /s asdefault.
To set the CAN baud rate and node id through software see the software userguidesfor the
different productversions specifiedin chapter1.5 Supporting documentation
L1
51uH 230mA
1
4
2
3
100p 100V 100p 100V
680 nF 50V
1
CAN shield
connection
for J1939
CAN1F_H
CAN1F_L
CAN1_L[1]
CAN1_H[1]
CAN1_S[1]
NUP3105LT1G
1 2
3
CAN transceiver

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7.3. Analog inputs 1-8
There are 8 configurable inputs that canbe configured individually by software to accept different
input ranges. A simplified schematic for the inputs is shown below. A 10 nF input capacitor and
transient voltage suppressing diode handles ESDand other transients.
A 100 Ohm sense resistoris usedfor4-20 mA input range.
Digital input modes are managed with a comparator and 9K1 pull-up or pull-down resistor
can be enabledfor sensor without push-pull outputs.
Different voltage rangesare managedby enabling different resistor dividers.
Filter
capacitor
1 nF
Input pin Transient
voltage
suppressor
9K1
9K1
27K
10K 2K7
ADC
100
Filtered
supply
All inputranges providesprotection from shortcircuit and overload (0.. Ub).
Input type
Range
Accuracy
Specification
Accuracy
Typical
Impedance
Current input
4..20 mA
1 % ± 30 µA
<0.2% ov er temp
100 Ω
Voltage input
0..10V
1 % ± 10 mV
<0.4% ov er temp
37.0 KΩ
Voltage input
0..32V
1 % ± 30 mV
<0.2% ov er temp
29.7 KΩ
7.3.1. Analog inputs
For the analog voltage and current input modes the ADC operates with a resolution of 16-bits.
For the 4-20mA current input range over current (over voltage) protection of the 100 Ohm sense
resistor is implemented in software. If the inputcurrent is above 30 mA (equivalent to a voltage on
the inputabove 3 V) for a certaintime the 100 Ohm sense resistor will be disconnectedfor a time to
allow the resistor to cool down before testing again for an over-current (over-voltage).
Each analoginput have configurable pull-up and pull-down resistor for using the analog input with
sensors other thananalogones such as for example switches and position sensors.
7.4. Digital inputs 1-4
There are 4 digital inputs with selectable pull-upor pull-down resistor. A comparator circuit with
1V of hysteresisis used to determine the input level.
For the input to change from high to lowthe input voltage must fall below ~2V.
For the input to change from low to high the inputvoltage must rise above ~3V.

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Filter
capacitor
1 nF
Input pin Transient
voltage
suppressor
9K1
9K1
20K
Comparator with
1V hysteresis
Filtered
supply
7.5. Frequency inputs 1-2
There are 2 frequency inputs with selectable pull-upor pull-down resistor.The frequency inputs A
comparator circuit with1V of hysteresis is used to determine the input level.
For the input to change from high to lowthe input voltage must fall below ~2V.
For the input to change from low to high the inputvoltage must rise above ~3V.
Filter
capacitor
1 nF
Input pin Transient
voltage
suppressor
9K1
9K1
20K
Comparator with
1V hysteresis
Filtered
supply
The 2 frequency inputs caneither be used as independent frequency inputs or be combined in to an
encoder input.
The bandwidth of the frequency inputis more than 20 kHz for sensorswith push-pull or open-
drain withpull-up. Whenusing sensorswith high side output and pull-down resistor the
bandwidth is 11-17 kHz depending on the supply voltage. The bandwidthdifference for the modes is
due to the 2-3 V threshold level.
The time base for the timers in the microcontroller is better than1 00ppm over temperature.
7.6. Outputs 1-8
The 8 outputs (4 x Standard High-Side PWM + 4 x AdvancedHigh-Side PWM) are individually and
independently configurable through software. The total output current is specified to a maximum
of 12A.

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7.6.1. Standard High-Side PWM outputs 1-4
The block diagram for Standard High-Side output1 -4 which are rated for 2 A is shown below. The
output stage has current limitation withapproximately 9 A at27 Vand room temperature. The
current limit is higher at low temperature and lower at high temperatures. This output is capable of
capacitive loads such as LEDlamps and other units withhighinput capacitance on the inputas well
as inductive and resistive loads.
400 Hz
Output stage
200K 100 nF
Current sense
Processing
Power in Output
The current sense is not very accurate and mainly intendedfor diagnostics and open-load detection
in on state. Off-state open load detectionis done by connecting a 9K1 pull-up resistorto the output
and checkthe voltage on the output.
In digitaloutputmode whenthe output is enabled the output is allowed to be current limiting or
hav e an output current above ~2.7A for up to 100 ms before turning off the output.
In PWM output mode when the PWM is enabled the output is not allowedto be current limiting or
hav e an output current above ~2.7A in order to limit the number of activationsinto a short circuit.
Common features
Operating voltage range
8..32 V DC
Current per output
0...2000 mA
All outputs can be used as an ON/OFF output s
PWM output
Frequency
50…400 Hz
Duty cycle
0…100%, resolution 0,1%
Loads
Inductiv e, resistiv e, capacitiv e
Current Sense
±16% at 0.4A
±12% at 1.0A
±10% at 2.0A
Accuracy is v alid at 100% duty
cycle
Ov er current limit
~2.7A
Open load detection
Off-state (yes/no)
On-state (current sense)

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7.6.2. Advanced High-Side PWM output 5-8
The block diagramforAdvancedHigh-Side PWM outputwhich is rated for 2 A is shownbelow.
The output stage is capable of fast switching for inductive and resistive loads.
High side
current sense
5 kHz Output
stage
10K 100 nF
Processing
Power in Output
Common features
Operating v oltage range
8 VDC to 32 VDC
Rated current per output
2 A
Current sense range
0 to 2180 mA (min)
Current ov er load limit
2180 mA (min) 2360 mA (max)
Current controlled
output (PWMi)
Output frequency
Fixed high frequency, 5.2kHz
Dither frequency range
25…400 Hz, adjustable in fixed
steps
Dither current
Adjustable up to 400 mA
Hardware output resolution
0.6 mA
Software output resolution
1.0 mA
Loads
Inductiv e, resistiv e
Accuracy (design target)
ca ± 1% ± 10 mA
PWM output
Frequency
50…400 Hz
Duty cycle
0…100%, resolution 0,1%
Loads
Inductiv e, resistiv e
Current Sense
ca ± 1% ± 5 mA
The actual value is dependent many factors such as output current,dither frequency and solenoid type.
Protection from shortcircuit and overload (0..Ub).
7.6.3. PWM output
PWM outputs are adjustable individually for each outputbetween50-400Hz. Duty cycle is
adjustable between0 -100% in 0.1% steps.
7.6.4. Digital output
All outputs might also be usedin digital mode (on/off).