Parker CM2904 User manual

CM2904 Controller
Instruction Book
Publ no MSG33-4202-IB/UK
Edition 02/2022

CM2904 Instruction Book © 2009 - 2022 Parker-Hannifin Corporation Page 2 of 51
Parker Hannifin Manufacturing Finland Oy
Electronic Motion & Controls Division
Electronic Controls Business Unit
Lepistönkatu 10
FI-30100 Forssa, Finland
Office [phone]
http://www.parker.com/emc
Copyright 2009 - 2022 © Parker Hannifin Corporation. All rights reserved. No part of this work
may be reproduced, published, or distributed in any form or by any means (electronically,
mechanically, photocopying, recording, or otherwise), or stored in a database retrieval system,
without the prior written permission of Parker Hannifin in each instance.
WARNING!
FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS AND/OR
SYSTEMS DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL
INJURY AND PROPERTY DAMAGE.
This document and other information from Parker Hannifin Corporation, its subsidiaries and
authorized distributors provide product and/or system options for further investigation by users
having technical expertise. It is important that you analyze all aspects of your application and
review the information concerning the product or system in the current product catalog. Due to the
variety of operating conditions and applications for these products or systems, the user, through its
own analysis and testing, is solely responsible for making the final selection of the products and
systems and assuring that all performance, safety and warning requirements of the application are
met.
The products described herein, including without limitation, product features, specifications,
designs, availability and pricing, are subject to change by Parker Hannifin Corporation and its
subsidiaries at any time without notice.

CM2904 Instruction Book © 2009 - 2022 Parker-Hannifin Corporation Page 3 of 51
Introduction
Safety Symbols
Contents
1. Introduction 5
1.1. Safety Symbols 5
2. Precautions 6
2.1. General Safety Regulations 6
2.1.1. Construction Regulations 7
2.1.2. Safety During Installation 7
2.1.3. Safety During Start-up 7
2.1.4. Safety During Maintenance and Fault Diagnosis 7
3. How to Use this Manual 8
3.1. Diagram Conventions 8
3.2. 88CM2904 module revisions 9
4. Product description 10
4.1. General 10
4.2. Product Characteristics Summary 11
4.3. Main Features & functionality 12
4.3.1. CM2904 basic architecture 12
4.3.2. CM2904 Product functions 12
4.4. Mechanics, general view 13
5. Hardware Specifications 14
5.1. Input / Output (I/O) List by Connector 14
5.2. Input descriptions 15
5.2.1. Analog Input 15
5.2.2. Multifunction Digital Inputs (MDIN) 16
5.2.3. Frequency inputs 16
5.3. Output descriptions 17
5.3.1. PWM Outputs 17
5.3.2. Reference Outputs 18
5.4. Communication Mediums - CAN 18
5.5. Microcontroller 19
5.6. Power Supply input 19
5.7. Power tree 20
5.8. Internal Functions 20
5.8.1. Reference Voltage Measurements 20
5.8.2. Supply Voltage Measurement 20
5.9. Connectors 21
5.9.1. Connector layout & signals 21
5.9.2. Connector Types 21
6. CM2904 Standard software 23
6.1. Messaging 23
6.1.1. General specifications and rules 23
6.1.2. Transmission 23
6.2. CM2904 Message types 24
6.3. Message definitions 25
6.3.1. MDIN 25
6.3.2. ADC1 26
6.3.3. ADC2 27

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Introduction
Safety Symbols
6.3.4. ADC3 28
6.3.5. FI & DIAG 29
6.3.6. PWM Output Control 30
6.3.7. Diagnostic Message 31
6.3.8. Fault codes 31
7. Module Identification on network 33
7.1. Module ID 33
7.1.1. Module ID Installation Connections 34
7.1.2. Module ID Diagnostics and Fault Protection 34
7.1.3. ID-Tag Resistance Information 34
8. Installation 35
8.1. Installing into vehicle 35
8.1.1. Selecting a Mounting Location 35
8.1.2. Mounting to a Vehicle 36
8.2. Electrical Guidelines 37
8.2.1. Designing the Vehicle Harness 37
8.2.2. Connecting the Vehicle Harness 38
9. Application Examples 39
9.1. Controlling Indicator Lights 39
9.2. Controlling actuators with outputs 40
9.3. Connecting Common Sensors 41
9.3.1. Open Collector Sensors 41
9.3.2. Switch Sensors 42
9.3.3. Voltage Sensors 42
9.3.4. Potentiometer (Ratiometric) Sensors 43
9.4. Connecting rotary encoder 43
10. Start-Up 45
10.1. Start-Up Procedures 45
10.1.1. Starting the Control System 45
10.1.2. Prepare for System Start 45
10.1.3. Start the System 46
11. Summary of Tests 47
11.1. Design Verification Tests 47
12. Glossary of Terms 50
12.1. Glossary of terms 50

CM2904 Instruction Book © 2009 - 2022 Parker-Hannifin Corporation Page 5 of 51
Introduction
Safety Symbols
1. Introduction
These instructions are meant as a reference tool for the vehicle manufacturer's
design, production, and service personnel.
The user of this manual should have basic knowledge in the handling of electronic
equipment.
1.1. Safety Symbols
Sections regarding safety, marked with a symbol in the left margin, must be read
and understood by everyone using the system, carrying out service work or
making changes to hardware and software.
The different safety levels used in this manual are defined below.
WARNING
CAUTION
NOTICE
Contact the manufacturer if there is anything you are not sure about or if you have
any questions regarding the product and its handling or maintenance.
The term "manufacturer" refers to Parker Hannifin Corporation

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Precautions
General Safety Regulatio
ns
2. Precautions
2.1. General Safety Regulations
Work on the hydraulics control electronics may only be carried out by trained
personnel who are well-acquainted with the control system, the machine and its
safety regulations.
WARNING
WARNING
WARNING
NOTICE

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Precautions
General Safety Regulations
2.1.1. Construction Regulations
CAUTION
2.1.2. Safety During Installation
CAUTION
2.1.3. Safety During Start-up
WARNING
Ensure that no one is in front, behind or nearby the machine when first starting up
the machine.
Follow the instructions for function control in the Start-up section.
2.1.4. Safety During Maintenance and Fault Diagnosis
CAUTION
oThe machine cannot start moving.
oFunctions are positioned safely.
oThe machine is turned off.
oThe hydraulic system is relieved from any pressure.
oSupply voltage to the control electronics is disconnected.

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How to Use this Manual
Diagram Conventions
3. How to Use this Manual
This manual describes the CM2904 -module – hardware, - standard software, -
module installation and gives examples of its use.
3.1. Diagram Conventions
There are many connection diagrams found throughout this manual. The following
table provides meanings for the different symbols used in those diagrams:
Symbol Meaning
General input
General output
Frequency input
Analog input
Frequency sensor
Resistive sensor
General sensor
Application switch
Load
Resistor

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How to Use this Manual
Symbol Meaning
Pull-down resistor
Pull-up resistor
Diode
Battery
Fuse
Ground
Chassis ground
3.2. 88CM2904 module revisions
HW
Rev #
Description Change log
(changes made in relation to previous version)
1.0 Production version
2.0 Update Contact information update, chapter 5.9.1 Connector layout
picture corrected (5pin/12pin Vref),

CM2904 Instruction Book © 2009 - 2022 Parker-Hannifin Corporation Page 10 of 51
Product description
General
4. Product description
4.1. General
The CM2904 is a small module that has standard software for J1939 network (with
proprietary CAN messages) for expanding the system I/O.
CM2904 can be utilized as interface to CAN bus. It takes measuring data from buttons,
switches, potentiometers and/or joysticks- e.g. it provides interface for control elements
and communication to terminal It can be used for indoor cabin –applications for
example in tractors, forest machines, construction equipment’s etc.
CM2904 I/O is usable in any application. Applications are mainly limited by
mechanical construction.
ECU
ECU
CM2904
Terminal
CAN BUS (J1939)
OUT1
OUT2
OUT3
OUT4
IN1
IN2
IN19
CAN BUS (J1939)
CAN
device
CAN BUS
CAN1
CAN2
AIN1
AIN8
FIN1
FIN2
Buttons, swithes
etc...
Potentiometers,
sensors, joystics
etc..
Sensors etc..
Solenoid valves,
proportional valves,
lamps, leds etc..
Figure 1: General system overview where CM2904 is operating

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Product description
Product Characteristics Summary
4.2. Product Characteristics Summary
Table 1: I/O & diagnostics capabilities
Symbol
Description
Total #
Notes
AIN
Analogue Inputs 0…8V
8
MDIN Digital inputs
with analogue feedback
20 MDIN20 is optionally used for Itag
addressing
FIN
Frequency inputs
2
PWM PWM outputs with current
feedback
4 High Side outputs
+REFOut
Reference outputs,
5V and 8V
2 Sensor supply
CAN
CAN interface
2
LED LED-indicators 2
3 separate LEDs:
- Yellow (SW controlled)
- Red (SW controlled)
- Green (power supply)
Table 2: General Product features
Characteristic Value
Operating Temperature Range
-30°C…+85°C
IP rating
IP20
Protection All I/O electronics withstand accidental
connection to battery voltage or short to GND
Product Size
Outer dimensions 130 x 90 x 30 mm
Case Material
Polycarbonate
Weight
150g
Storage conditions Continuous: 20ºC ± 20ºC
Temporary: -40ºC …+85ºC
Humidity: Non-condensing

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Product description
Main Features & functionality
4.3. Main Features & functionality
4.3.1. CM2904 basic architecture
RAM
3kB
FLASH
60kB
MC9S08DV60
CAN
8 x AI
2 x FI
20 x
MDIN
PB0-PB7
0...8V
Signal
Scaling
pullDwn
0...32V
Signal
Scaling
PullUp
2,6V
0...32V
Signal
Scaling
PullUp
2,6V
0...32V
Signal
Scaling
PullUp
2,6V
8
8
4
PA5-PA6
Out
Out
En
Out
Sel
En
En
Sel
Sel
PC4-PC5
PC0
PC1
PC2
5VRefOut
8VRefOut
Batt+
8
8
7
AN
MUX1
AN
MUX2
AN
MUX3
Signal
Scaling PD4-PD5
Power
Supply
5VRefOut
8VRefOut
PF0
5VRef on
PF1
8VRef on
Batt+
+5V +9V
Buffer
PA1-PA4
PWM Current measure
PE6-PE7
PWM Output status PF2-PF5
CAN
(optional)
Buffer
MCP
2515
PE2-PE5 SPI
PA0 CLK 8MHz
PG2-PG5 CNTRL
PC6-PC7
2 * LED
(optional)
2 * REF
(5V , 8V)
PWR
LED
(optional)
4 * PWM
Output
Output
FET’s
PWM Current measure
PWM Output status
PD0-PD3
19 x
MDIN
1 * Itag
(optional)
Batt
Batt+
Figure 2: CM2904 architecture
4.3.2. CM2904 Product functions
- Measure and report digital input values.
- Measure and report frequency input values.
- Measure and report analog input values.
- Control PWM outputs in frequency, ramp or ON/OFF modes.
- J1939 compliant communication layer with CAN 2.0b protocol.
- Self-diagnostics and error reporting.
- Provide 5 V and 8 V reference voltages.

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Product description
Mechanics, general view
4.4. Mechanics, general view
Figure 3: Mechanical view of CM2904. LED’s are visible through transparent
gasket. LED’s location are shown in the picture above with arrow.
Figure 4: Dimensional drawing of CM2904

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Hardware Specifications
Input / Output (I/O) List by Connector
5. Hardware Specifications
5.1. Input / Output (I/O) List by Connector
The following tables list the I/O by connector:
NOTICE
Refer to the section 5.9 for more information on connectors.
Table 3: Connector X1 pins
Pin Number
Description
1
PWM_1
2
PWM_2
3
PWM_3
4
PWM_4
5
+8Vout
6
AIN_1
7
AIN_2
8
VBAT+
9
VBAT+
10
VBAT+
11
GND
12
+5Vout
13
MDIN_1
14
MDIN_2
15
MDIN_3
16
MDIN_4
Table 4: Connector X2 pins
Pin Number
Description
1
AIN_3
2
AIN_4
3
AIN_5
4
AIN_6
5
AIN_7
6
AIN_8
7
GND
8
FRQ_1
9
GND
10
FRQ_2
11
CAN_2_HI
12
CAN_1_HI
13
CAN_1_LO
14
CAN_2_LO

CM2904 Instruction Book © 2009 - 2022 Parker-Hannifin Corporation Page 15 of 51
Hardware Specifications
Pin Number
Description
15
MDIN_5
16
MDIN_6
17
MDIN_7
18
MDIN_8
19
MDIN_9
20
MDIN_10
21
MDIN_11
22
MDIN_12
23
MDIN_13
24
MDIN_14
25
MDIN_15
26
MDIN_16
27
MDIN_17
28
MDIN_18
29
MDIN_19
30
MDIN_20 or Itag
5.2. Input descriptions
5.2.1. Analog Input
The following table provides specific details for this analog input type:
Table 5: Analog input specifications
Element
Min
Nom
Max
Unit
Count
8
Input voltage range
0
8,4
V
Pull-down resistance (24 V
system)
20,7 kΩ
Cutoff frequency
50
Hz
Over-voltage
48
V
Resolution
2
mV
Accuracy
2
%
ADC reference voltage
5
V
Reference voltage tracking
0,2
%

CM2904 Instruction Book © 2009 - 2022 Parker-Hannifin Corporation Page 16 of 51
Hardware Specifications
Input descriptions
5.2.2. Multifunction Digital Inputs (MDIN)
Multifunction digital input hardware specifications are described below. Usage of these
inputs are decided in software.
MDIN 1…4 are actually used as analog inputs having measurement range from
0…32000mV, while MDIN5…19 are used as digital inputs having currently 3 states in
use in the application software.
Refer to chapter 6.3.2 for use of MDIN 1..4 and to chapter 6.3.1 for use of MDIN
5…19.
The following table provides specific details for this digital input type:
Table 6: Digital multistage input specifications
Element
Min
Nom
Max
Unit
Count
20
pcs
Input voltage range
0
32
V
Pull-up voltage 24V system
2,6
V
Pull-up voltage 12V system
2,6
V
Short to ground
0
1
V
Open wire (no connection)
2,1
3,1
V
+5V reference
4,5
5,5
V
+8V reference
7,5
8,5
V
Short to battery
9
V
Cuttoff frequency
100
Hz
Over-voltage
38
V
Reverse protection
-26
V
Resolution
32
mV
Accuracy
2
%
NOTICE
Currently the states used for MDIN5…19 are following
Open = OFF or “0”
+5V reference = ON or “1”
Any other state = +8Vreference / Short to battery/Short to ground = error
5.2.3. Frequency inputs
•Input works in this configuration with NPN type sensors
•No open wire detection for sensor
•If used critical signals, normally closed - sensor type should be used

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Hardware Specifications
Output descriptions
The following table provides specific details for this frequency input type:
Table 7: Frequency input specifications
Element
Min
Nom
Max
Unit
Count
2
Input voltage range
-Vbat
Vbat
V
Pull-up resistance
2,8
kΩ
Pull-up voltage
0,72
*Vbat
Active low voltage
4,04
4,15
V
Cuttoff frequency
8
kHz
Frequency range
1
4000
Hz
Over-voltage
36
V
Resolution 0,5 % of
reading
5.3. Output descriptions
The following sections provide detailed descriptions for each output pin-type. Refer also
to previous section 5.1 for I/O –list.
5.3.1. PWM Outputs
In CM2904 these are High side -type of outputs with following features:
•Outputs can be used to control different types of loads:
oON/OFF type solenoids
oCurrent feedback to µC ADC
oSignaling light bulps / LED’s (Open load detection option not
in use)
oResistive loads (Open load detection option not in use)
•Open load detection is population option
Table 8 provides specific details for this high side output type:
Table 8: PWM output specifications
Element
Min
Nom
Max
Unit
Count
4
Switchable voltage range
Bat+ - 1,5
Bat+
V
Output current
2
A
Over-voltage
40
V
Current sense Amp range
0
5
A
Current sense resolution
1,25
mA
Current sense accuracy
50
mA
PWM frequency
5
200
Hz
PWM resolution
1
Hz
Inductive pulse protection
YES
Short circuit protection
THERMAL
Digital feedback
YES

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Hardware Specifications
Communication Mediums
- CAN
INFORMATION
Inductive loads will create an average current flow that moves out of the high side
output. When the output is on, the current flows through the output driver, and
when the output is off, the current flows through the flyback diode. A duty cycle of
50% will produce the worst case average current flow through these two devices.
5.3.2. Reference Outputs
There is two sensor supply / reference outputs in CM2904: +5V and +8V
Table 9: Specifications for Sensor supply +5V
Element
Min
Nom
Max
Unit
Count
1
Output voltage
4,975
5
5,025
V
Output current
200
mA
Resolution (feedback) *) NOTE
Table 10: Specifications for Sensor supply +8V
Element
Min
Nom
Max
Unit
Count
1
Output voltage
7,95
8
8,05
V
Output current
50
mA
Resolution (feedback) *) NOTE
2
%
Diagnostics and protection Diagnosable, protected against short circuit and battery.
NOTICE
Current feedback resolution based on feedback circuitry’s component tolerance –
Sensor supplies feedback circuitries tolerance is typically 1 %
5.4. Communication Mediums - CAN
The CM2904 has following communication features:
•2 x extended CAN interfaces:
•1st CAN is wired to microcontroller
•2nd CAN implemented by using separate controller chip: MPC2515
•CAN 2.0B. Communication according to SAE J1939/71 communication layer
•Bit rate 250 kbps
•Overvoltage protection implemented by using 30V bi-directional TVS

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Hardware Specifications
Microcontroller
5.5. Microcontroller
•Microcontroller:
oFreescale MC9S08DV60
o8-bit (MCU supports 8-bit integer arithmetic)
•Frequencies:
o32 MHz system frequency
o16 MHz bus frequency
•Internal FLASH:
o60 Kbyte
oSector size 768 byte
oBlock protection
•Internal SRAM:
o3 Kbyte
•Diag -led’s:
oYellow/red, Software controlled
5.6. Power Supply input
Table 11:Power supply input specifications
Power Supply
Min
Nom
Max
Units
Input voltage range
9
12
32
V
Over-voltage
37
V
Startup threshold
7
V
Input current
0,1
4,1
A
Diagnostic LED indicator
12
V
NOTICE
Even CM2904 can operate with 24V system voltage, its tested mainly with 12V
system voltage. Refer to chapter 11- Design Verification Tests to check the
compatibility against the environmental test requirements.

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Hardware Specifications
Power tree
5.7. Power tree
VBAT+
Overvoltage switch
(limiter)
Switched PC4
VCC_UNREG
6,8V zener
COMPREF
1.5V REF
Overvoltage switch comparator VCC
Overvoltage switch comparator reference
Optional LED
MDIN23
Voltage measurement
PWM Outputs
Switching regulator
5V
VCC
FILTER
FILTER AVCC, VREF
Switching regulator
Boost 8,7V
FIN comparator VCC
Tracking
regulator
(5V)
Tracking
regulator
(8V)
VCC
A=1,6
VCC
+5VOut
+8VOut
MDIN21
Measure
MDIN22
Measure
Ref
Ref
On
On
PF0
PF1
Figure 5: CM2904 power supply architecture - internal connections
5.8. Internal Functions
The following sections describe the internal functions for this product.
5.8.1. Reference Voltage Measurements
Implemented for both reference voltages
•Voltage range 0…32V
•Multiplexed with MDIN’s
Voltage calculation:
V=ADINValue*31,5mV
5.8.2. Supply Voltage Measurement
•Voltage range 0…51V
•Multiplexed with MDIN’s