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8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 116 TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Technical Reference
ECU-0710
Electronic Control Unit
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 2162
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
CONTENTS
3 Introduction
Overview
Symbols
Safety Guidelines
Warranty and Limited LiabilityEnvironmental Statement
References
4 Product Overview
Features
Monitoring Functions
Programming Environment
6 Input Output Specifications
Connector Pinout
Configurable IOs
Digital Input PWM Output Digital Output
Digital Input Pulse Input
Current Measuring Feedback
Digital Input Analog Input
Digital Input Digital Output (sinking)
Specification for Internal Diagnostics
+5 V Reference
13 Connections and Wiring
Connector Diagram
AMPSEAL Components
Closed Loop Wiring
14 Bus Connection
Bus Connection Pins
CAN Interface
14 Power SuppLy
Over-voltage
Power Consumption
15 Housing
MountingDimensions
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ECU-0710 Technical Reference
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INTRODUCTION
Overview
This document provides a basic technical description of the ECU-0710 electronic control unit It is intended
as a reference to answer basic questions about the setup operation and maintenance of the product For
answers to specific questions not covered here contact HydraForce Technical Services at
North America South America and Asia
+1-800-682-6875
electronicshydraforcecom
UK Africa and Europe
+44-121-333-1800
electronicshydraforcecom
Symbols
This manual uses the following symbols to point out important information or safety instructions
Information
The information icon indicates important information and issues to be noted for the reader It can also indicate
cautionary advice that if ignored may result in damage to equipment
Safety Alert Symbol
The safety alert symbol indicates safety information If advice is ignored it can result in personal injury or death
Elctrical HazardThe (electrical) warning icon indicates a hazard which could cause an electrical danger andor a personal injury
CE Mark
This symbol indicates that the product described complies with the requirements set in the CE standard
WEEE (Waste Electrical and Electronic Equipment)This symbol indicates the product must be sent to separate collection facilities for recovery and recycling at the
end of the productrsquos useful life
Safety Guidelines
y Follow general machine safety guidelines directives and regulations appropriate to your country or
market area
y A separate safety analysis is always recommended for the machine and its control system Document
the features of this product so the machine operator has information on how to operate the machinecorrectly and safely
y This product complies with those certifications and standards listed The manufacturer does not
guarantee that this product complies any other certification standard or test than listed
y This product is not field serviceable never open or disassemble for any reason
y Install external fuses for the product or the system power supply
y Ensure the system is designed and constructed according to the general mounting and cabling
instructions
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ECU-0710 Technical Reference
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Warranty and Limited Liability
Refer to HydraForce master catalog for warranty and liability information
Environmental Statement
The manufacturer uses ISO14001 environmental certified processes and materials to manufacture products
The manufacturer recycles and scraps products returned to the manufacturer andor products that the
manufacturer receives in connection with maintenance services performed
WEEE
This product complies with the European Community Directive 200296EC on waste electrical and
electronic equipment (WEEE) encouraging and setting specific criteria for the collection handling and
recycling of electric and electronic waste
References
Please refer to CoDeSys 23 manual for further information concerning the programming environment and
required installations
Please refer to CAN and CANopen documentation from CAN in Automation (CiA) for further information on
communication issues
PRODUCT OVERVIEW
The HydraForce ECU-0710 control unit is a compact
and robust multifunction controller With a large
array of digital and analog inputs and digital outputs
this flexible controller can operate with different
kinds of sensors actuators proportional valves servo
motors and electro-hydraulic components
Programmable with PLCopen (using CoDeSys) and
with two CAN-buses it can function as an
independent controller as a module in a distributed
intelligence environment or as a slave device
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ECU-0710 Technical Reference
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Features
y ISO high speed CAN1 interface
y ISO high speed CAN2 interface
y Operating voltage 9ndash30 Vdc
y Over-voltage protection
y Overheating and short-circuit protection for outputs
y Gold plated locked and sealed connectors
8-pin AMPSEAL for module connection
23-pin AMPSEAL for IO
y Small outline dimensions 58 x 25 x 21 inch (147 x 63 x 53 mm)
y Weight 11 lb (05 kg)
Monitoring Functions
Applications can monitor the following
y Supply voltage
y Firmwareapplication code corruption
y Module temperature
The hardware watchdog monitors software deadlock and reboots the module automatically after 300 ms of
software deadlock
Programming Environment
Flash
y 6200 bytes flash saved parameters
y 10 separately saved sets
y Maximum application size 254 kB
CAN-bus
y User programmable CAN for all physical CAN-buses y Supported baud rates 50 100 125 250 500 and 1000 kbs
Supported protocols
y CANopen (for all physical buses)
y J1939 (only for one bus in the same module)
y ISOBUS (only for one bus in the same module)
Possible to add external c-programmed library
Minimum PWM frequency 80Hz
Maximum pulse input frequency 40 kHz Joint frequency for all pulse inputs (example four channel
in use --gt 10 kHz for each channel) depends on other interrupt load in the module Heavy CAN-traffic
can reduce maximum frequency
CANopen Indexes
You can install CANopen communication features such as NodeIDs and CAN rates through software For
more information refer to programming manuals
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ECU-0710 Technical Reference
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INPUT OUTPUT SPECIFICATIONS
Connector Pinout
The ECU-0710 contains inputs and outputs (IO pins) of different types There are for example inputs which
source current and outputs which sink current Furthermore there are IO pins which can be used as inputs
or as outputs at the control of the application
Connector 1
Pin Description Page Note
x11 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x12 FB See page 10 Current measuring FeedBack
x13 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x14 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x15 FB See page 10 Current measuring FeedBack
x16 FB See page 10 Current measuring FeedBack
x17 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x18 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x19 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x110 DIAI See page 11 Digital InputAnalog Input
x111 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x112 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x113 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x114 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x115 Reserved DO NOT USE (LEAVE OPEN)
x116 +5 V ref See page 12 Reference voltage for sensor
x117 DIAI See page 11 Digital InputAnalog Input
x118 DIDO See page 12 Digital InputDigital Output
x119 GND ref Reference GND for sensor
x120 DIAI See page 11 Digital InputAnalog Input
x121 DIAI See page 11 Digital InputAnalog Input
x122 DIAI See page 11 Digital InputAnalog Input
x123 DIAI See page 11 Digital InputAnalog Input
Connector 2
Pin Description Page Note
x21 GNDSUP See page 14
x22 CAN1 High See page 14
x23 GNDSUP See page 14x24 VSUP See page 14
x25 VSUP See page 14
x26 CAN1 Low See page 14
x27 CAN2 HighTxd See page 14 CAN2 not present on ECU-0710R
x28 CAN2 Low Rxd See page 14 CAN2 not present on ECU-0710R
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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Configurable IOs
Max amount
Digital input Analog input PWM output Digital output
SWG SWB Pulse Voltagecurrent Current feedback Source Source Sink
6 x x x
2 x x
2 x x
3 x
6 x x1 x x
20 2 15 4 6 3 6 6 1
The application determines usage of each IO pin
Digital Input PWM Output Digital Output
Pins X11 X13 X14 and X17hellipX19
These pins are current sourcing outputs The pin
connects the load to positive supply voltage The
application can also simultaneously monitor the
actual state of the pin This feature makes it possible
to detect short circuits to ground Open loads cannot be detected because the internal load resistor is
connected to ground
These outputs can also generate pulse width
modulated (PWM) output signals This feature is
useful when driving proportionally controlled loads
such as proportional hydraulic valves Monitoring
the state of the pin is generally not possible when
the pin is used as a PWM signal output
PWM frequencies can be configured under software
control in groups of outputs The frequency is set by
HW_SET_PWM_FREQ function call Frequency of all
channels in the group must be set together The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state and ensure unintentional switching to the ON state causes
no harm to the system
Pins X13 X14 X18 and X19
These pins include pulse counting feature (PI) For more information refer to Digital Input Pulse Input
PWM Frequency Control Groups (PFCG)
Group Channel Output pin
A
0X18
1 X19
2 -
3 -
B 4 X11
C 5 X13
D 6 X14
E 7 X17
+24V
Module
Load
Functional Block Diagram (as Output)
+24V+12V
+24V
Module
Functional Block Diagram (as Input)
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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ECU-0710 Technical Reference
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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ECU-0710 Technical Reference
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
CONTENTS
3 Introduction
Overview
Symbols
Safety Guidelines
Warranty and Limited LiabilityEnvironmental Statement
References
4 Product Overview
Features
Monitoring Functions
Programming Environment
6 Input Output Specifications
Connector Pinout
Configurable IOs
Digital Input PWM Output Digital Output
Digital Input Pulse Input
Current Measuring Feedback
Digital Input Analog Input
Digital Input Digital Output (sinking)
Specification for Internal Diagnostics
+5 V Reference
13 Connections and Wiring
Connector Diagram
AMPSEAL Components
Closed Loop Wiring
14 Bus Connection
Bus Connection Pins
CAN Interface
14 Power SuppLy
Over-voltage
Power Consumption
15 Housing
MountingDimensions
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ECU-0710 Technical Reference
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INTRODUCTION
Overview
This document provides a basic technical description of the ECU-0710 electronic control unit It is intended
as a reference to answer basic questions about the setup operation and maintenance of the product For
answers to specific questions not covered here contact HydraForce Technical Services at
North America South America and Asia
+1-800-682-6875
electronicshydraforcecom
UK Africa and Europe
+44-121-333-1800
electronicshydraforcecom
Symbols
This manual uses the following symbols to point out important information or safety instructions
Information
The information icon indicates important information and issues to be noted for the reader It can also indicate
cautionary advice that if ignored may result in damage to equipment
Safety Alert Symbol
The safety alert symbol indicates safety information If advice is ignored it can result in personal injury or death
Elctrical HazardThe (electrical) warning icon indicates a hazard which could cause an electrical danger andor a personal injury
CE Mark
This symbol indicates that the product described complies with the requirements set in the CE standard
WEEE (Waste Electrical and Electronic Equipment)This symbol indicates the product must be sent to separate collection facilities for recovery and recycling at the
end of the productrsquos useful life
Safety Guidelines
y Follow general machine safety guidelines directives and regulations appropriate to your country or
market area
y A separate safety analysis is always recommended for the machine and its control system Document
the features of this product so the machine operator has information on how to operate the machinecorrectly and safely
y This product complies with those certifications and standards listed The manufacturer does not
guarantee that this product complies any other certification standard or test than listed
y This product is not field serviceable never open or disassemble for any reason
y Install external fuses for the product or the system power supply
y Ensure the system is designed and constructed according to the general mounting and cabling
instructions
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Warranty and Limited Liability
Refer to HydraForce master catalog for warranty and liability information
Environmental Statement
The manufacturer uses ISO14001 environmental certified processes and materials to manufacture products
The manufacturer recycles and scraps products returned to the manufacturer andor products that the
manufacturer receives in connection with maintenance services performed
WEEE
This product complies with the European Community Directive 200296EC on waste electrical and
electronic equipment (WEEE) encouraging and setting specific criteria for the collection handling and
recycling of electric and electronic waste
References
Please refer to CoDeSys 23 manual for further information concerning the programming environment and
required installations
Please refer to CAN and CANopen documentation from CAN in Automation (CiA) for further information on
communication issues
PRODUCT OVERVIEW
The HydraForce ECU-0710 control unit is a compact
and robust multifunction controller With a large
array of digital and analog inputs and digital outputs
this flexible controller can operate with different
kinds of sensors actuators proportional valves servo
motors and electro-hydraulic components
Programmable with PLCopen (using CoDeSys) and
with two CAN-buses it can function as an
independent controller as a module in a distributed
intelligence environment or as a slave device
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Features
y ISO high speed CAN1 interface
y ISO high speed CAN2 interface
y Operating voltage 9ndash30 Vdc
y Over-voltage protection
y Overheating and short-circuit protection for outputs
y Gold plated locked and sealed connectors
8-pin AMPSEAL for module connection
23-pin AMPSEAL for IO
y Small outline dimensions 58 x 25 x 21 inch (147 x 63 x 53 mm)
y Weight 11 lb (05 kg)
Monitoring Functions
Applications can monitor the following
y Supply voltage
y Firmwareapplication code corruption
y Module temperature
The hardware watchdog monitors software deadlock and reboots the module automatically after 300 ms of
software deadlock
Programming Environment
Flash
y 6200 bytes flash saved parameters
y 10 separately saved sets
y Maximum application size 254 kB
CAN-bus
y User programmable CAN for all physical CAN-buses y Supported baud rates 50 100 125 250 500 and 1000 kbs
Supported protocols
y CANopen (for all physical buses)
y J1939 (only for one bus in the same module)
y ISOBUS (only for one bus in the same module)
Possible to add external c-programmed library
Minimum PWM frequency 80Hz
Maximum pulse input frequency 40 kHz Joint frequency for all pulse inputs (example four channel
in use --gt 10 kHz for each channel) depends on other interrupt load in the module Heavy CAN-traffic
can reduce maximum frequency
CANopen Indexes
You can install CANopen communication features such as NodeIDs and CAN rates through software For
more information refer to programming manuals
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ECU-0710 Technical Reference
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INPUT OUTPUT SPECIFICATIONS
Connector Pinout
The ECU-0710 contains inputs and outputs (IO pins) of different types There are for example inputs which
source current and outputs which sink current Furthermore there are IO pins which can be used as inputs
or as outputs at the control of the application
Connector 1
Pin Description Page Note
x11 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x12 FB See page 10 Current measuring FeedBack
x13 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x14 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x15 FB See page 10 Current measuring FeedBack
x16 FB See page 10 Current measuring FeedBack
x17 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x18 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x19 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x110 DIAI See page 11 Digital InputAnalog Input
x111 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x112 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x113 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x114 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x115 Reserved DO NOT USE (LEAVE OPEN)
x116 +5 V ref See page 12 Reference voltage for sensor
x117 DIAI See page 11 Digital InputAnalog Input
x118 DIDO See page 12 Digital InputDigital Output
x119 GND ref Reference GND for sensor
x120 DIAI See page 11 Digital InputAnalog Input
x121 DIAI See page 11 Digital InputAnalog Input
x122 DIAI See page 11 Digital InputAnalog Input
x123 DIAI See page 11 Digital InputAnalog Input
Connector 2
Pin Description Page Note
x21 GNDSUP See page 14
x22 CAN1 High See page 14
x23 GNDSUP See page 14x24 VSUP See page 14
x25 VSUP See page 14
x26 CAN1 Low See page 14
x27 CAN2 HighTxd See page 14 CAN2 not present on ECU-0710R
x28 CAN2 Low Rxd See page 14 CAN2 not present on ECU-0710R
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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Configurable IOs
Max amount
Digital input Analog input PWM output Digital output
SWG SWB Pulse Voltagecurrent Current feedback Source Source Sink
6 x x x
2 x x
2 x x
3 x
6 x x1 x x
20 2 15 4 6 3 6 6 1
The application determines usage of each IO pin
Digital Input PWM Output Digital Output
Pins X11 X13 X14 and X17hellipX19
These pins are current sourcing outputs The pin
connects the load to positive supply voltage The
application can also simultaneously monitor the
actual state of the pin This feature makes it possible
to detect short circuits to ground Open loads cannot be detected because the internal load resistor is
connected to ground
These outputs can also generate pulse width
modulated (PWM) output signals This feature is
useful when driving proportionally controlled loads
such as proportional hydraulic valves Monitoring
the state of the pin is generally not possible when
the pin is used as a PWM signal output
PWM frequencies can be configured under software
control in groups of outputs The frequency is set by
HW_SET_PWM_FREQ function call Frequency of all
channels in the group must be set together The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state and ensure unintentional switching to the ON state causes
no harm to the system
Pins X13 X14 X18 and X19
These pins include pulse counting feature (PI) For more information refer to Digital Input Pulse Input
PWM Frequency Control Groups (PFCG)
Group Channel Output pin
A
0X18
1 X19
2 -
3 -
B 4 X11
C 5 X13
D 6 X14
E 7 X17
+24V
Module
Load
Functional Block Diagram (as Output)
+24V+12V
+24V
Module
Functional Block Diagram (as Input)
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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ECU-0710 Technical Reference
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INTRODUCTION
Overview
This document provides a basic technical description of the ECU-0710 electronic control unit It is intended
as a reference to answer basic questions about the setup operation and maintenance of the product For
answers to specific questions not covered here contact HydraForce Technical Services at
North America South America and Asia
+1-800-682-6875
electronicshydraforcecom
UK Africa and Europe
+44-121-333-1800
electronicshydraforcecom
Symbols
This manual uses the following symbols to point out important information or safety instructions
Information
The information icon indicates important information and issues to be noted for the reader It can also indicate
cautionary advice that if ignored may result in damage to equipment
Safety Alert Symbol
The safety alert symbol indicates safety information If advice is ignored it can result in personal injury or death
Elctrical HazardThe (electrical) warning icon indicates a hazard which could cause an electrical danger andor a personal injury
CE Mark
This symbol indicates that the product described complies with the requirements set in the CE standard
WEEE (Waste Electrical and Electronic Equipment)This symbol indicates the product must be sent to separate collection facilities for recovery and recycling at the
end of the productrsquos useful life
Safety Guidelines
y Follow general machine safety guidelines directives and regulations appropriate to your country or
market area
y A separate safety analysis is always recommended for the machine and its control system Document
the features of this product so the machine operator has information on how to operate the machinecorrectly and safely
y This product complies with those certifications and standards listed The manufacturer does not
guarantee that this product complies any other certification standard or test than listed
y This product is not field serviceable never open or disassemble for any reason
y Install external fuses for the product or the system power supply
y Ensure the system is designed and constructed according to the general mounting and cabling
instructions
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Warranty and Limited Liability
Refer to HydraForce master catalog for warranty and liability information
Environmental Statement
The manufacturer uses ISO14001 environmental certified processes and materials to manufacture products
The manufacturer recycles and scraps products returned to the manufacturer andor products that the
manufacturer receives in connection with maintenance services performed
WEEE
This product complies with the European Community Directive 200296EC on waste electrical and
electronic equipment (WEEE) encouraging and setting specific criteria for the collection handling and
recycling of electric and electronic waste
References
Please refer to CoDeSys 23 manual for further information concerning the programming environment and
required installations
Please refer to CAN and CANopen documentation from CAN in Automation (CiA) for further information on
communication issues
PRODUCT OVERVIEW
The HydraForce ECU-0710 control unit is a compact
and robust multifunction controller With a large
array of digital and analog inputs and digital outputs
this flexible controller can operate with different
kinds of sensors actuators proportional valves servo
motors and electro-hydraulic components
Programmable with PLCopen (using CoDeSys) and
with two CAN-buses it can function as an
independent controller as a module in a distributed
intelligence environment or as a slave device
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Features
y ISO high speed CAN1 interface
y ISO high speed CAN2 interface
y Operating voltage 9ndash30 Vdc
y Over-voltage protection
y Overheating and short-circuit protection for outputs
y Gold plated locked and sealed connectors
8-pin AMPSEAL for module connection
23-pin AMPSEAL for IO
y Small outline dimensions 58 x 25 x 21 inch (147 x 63 x 53 mm)
y Weight 11 lb (05 kg)
Monitoring Functions
Applications can monitor the following
y Supply voltage
y Firmwareapplication code corruption
y Module temperature
The hardware watchdog monitors software deadlock and reboots the module automatically after 300 ms of
software deadlock
Programming Environment
Flash
y 6200 bytes flash saved parameters
y 10 separately saved sets
y Maximum application size 254 kB
CAN-bus
y User programmable CAN for all physical CAN-buses y Supported baud rates 50 100 125 250 500 and 1000 kbs
Supported protocols
y CANopen (for all physical buses)
y J1939 (only for one bus in the same module)
y ISOBUS (only for one bus in the same module)
Possible to add external c-programmed library
Minimum PWM frequency 80Hz
Maximum pulse input frequency 40 kHz Joint frequency for all pulse inputs (example four channel
in use --gt 10 kHz for each channel) depends on other interrupt load in the module Heavy CAN-traffic
can reduce maximum frequency
CANopen Indexes
You can install CANopen communication features such as NodeIDs and CAN rates through software For
more information refer to programming manuals
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INPUT OUTPUT SPECIFICATIONS
Connector Pinout
The ECU-0710 contains inputs and outputs (IO pins) of different types There are for example inputs which
source current and outputs which sink current Furthermore there are IO pins which can be used as inputs
or as outputs at the control of the application
Connector 1
Pin Description Page Note
x11 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x12 FB See page 10 Current measuring FeedBack
x13 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x14 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x15 FB See page 10 Current measuring FeedBack
x16 FB See page 10 Current measuring FeedBack
x17 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x18 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x19 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x110 DIAI See page 11 Digital InputAnalog Input
x111 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x112 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x113 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x114 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x115 Reserved DO NOT USE (LEAVE OPEN)
x116 +5 V ref See page 12 Reference voltage for sensor
x117 DIAI See page 11 Digital InputAnalog Input
x118 DIDO See page 12 Digital InputDigital Output
x119 GND ref Reference GND for sensor
x120 DIAI See page 11 Digital InputAnalog Input
x121 DIAI See page 11 Digital InputAnalog Input
x122 DIAI See page 11 Digital InputAnalog Input
x123 DIAI See page 11 Digital InputAnalog Input
Connector 2
Pin Description Page Note
x21 GNDSUP See page 14
x22 CAN1 High See page 14
x23 GNDSUP See page 14x24 VSUP See page 14
x25 VSUP See page 14
x26 CAN1 Low See page 14
x27 CAN2 HighTxd See page 14 CAN2 not present on ECU-0710R
x28 CAN2 Low Rxd See page 14 CAN2 not present on ECU-0710R
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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Configurable IOs
Max amount
Digital input Analog input PWM output Digital output
SWG SWB Pulse Voltagecurrent Current feedback Source Source Sink
6 x x x
2 x x
2 x x
3 x
6 x x1 x x
20 2 15 4 6 3 6 6 1
The application determines usage of each IO pin
Digital Input PWM Output Digital Output
Pins X11 X13 X14 and X17hellipX19
These pins are current sourcing outputs The pin
connects the load to positive supply voltage The
application can also simultaneously monitor the
actual state of the pin This feature makes it possible
to detect short circuits to ground Open loads cannot be detected because the internal load resistor is
connected to ground
These outputs can also generate pulse width
modulated (PWM) output signals This feature is
useful when driving proportionally controlled loads
such as proportional hydraulic valves Monitoring
the state of the pin is generally not possible when
the pin is used as a PWM signal output
PWM frequencies can be configured under software
control in groups of outputs The frequency is set by
HW_SET_PWM_FREQ function call Frequency of all
channels in the group must be set together The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state and ensure unintentional switching to the ON state causes
no harm to the system
Pins X13 X14 X18 and X19
These pins include pulse counting feature (PI) For more information refer to Digital Input Pulse Input
PWM Frequency Control Groups (PFCG)
Group Channel Output pin
A
0X18
1 X19
2 -
3 -
B 4 X11
C 5 X13
D 6 X14
E 7 X17
+24V
Module
Load
Functional Block Diagram (as Output)
+24V+12V
+24V
Module
Functional Block Diagram (as Input)
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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Warranty and Limited Liability
Refer to HydraForce master catalog for warranty and liability information
Environmental Statement
The manufacturer uses ISO14001 environmental certified processes and materials to manufacture products
The manufacturer recycles and scraps products returned to the manufacturer andor products that the
manufacturer receives in connection with maintenance services performed
WEEE
This product complies with the European Community Directive 200296EC on waste electrical and
electronic equipment (WEEE) encouraging and setting specific criteria for the collection handling and
recycling of electric and electronic waste
References
Please refer to CoDeSys 23 manual for further information concerning the programming environment and
required installations
Please refer to CAN and CANopen documentation from CAN in Automation (CiA) for further information on
communication issues
PRODUCT OVERVIEW
The HydraForce ECU-0710 control unit is a compact
and robust multifunction controller With a large
array of digital and analog inputs and digital outputs
this flexible controller can operate with different
kinds of sensors actuators proportional valves servo
motors and electro-hydraulic components
Programmable with PLCopen (using CoDeSys) and
with two CAN-buses it can function as an
independent controller as a module in a distributed
intelligence environment or as a slave device
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Features
y ISO high speed CAN1 interface
y ISO high speed CAN2 interface
y Operating voltage 9ndash30 Vdc
y Over-voltage protection
y Overheating and short-circuit protection for outputs
y Gold plated locked and sealed connectors
8-pin AMPSEAL for module connection
23-pin AMPSEAL for IO
y Small outline dimensions 58 x 25 x 21 inch (147 x 63 x 53 mm)
y Weight 11 lb (05 kg)
Monitoring Functions
Applications can monitor the following
y Supply voltage
y Firmwareapplication code corruption
y Module temperature
The hardware watchdog monitors software deadlock and reboots the module automatically after 300 ms of
software deadlock
Programming Environment
Flash
y 6200 bytes flash saved parameters
y 10 separately saved sets
y Maximum application size 254 kB
CAN-bus
y User programmable CAN for all physical CAN-buses y Supported baud rates 50 100 125 250 500 and 1000 kbs
Supported protocols
y CANopen (for all physical buses)
y J1939 (only for one bus in the same module)
y ISOBUS (only for one bus in the same module)
Possible to add external c-programmed library
Minimum PWM frequency 80Hz
Maximum pulse input frequency 40 kHz Joint frequency for all pulse inputs (example four channel
in use --gt 10 kHz for each channel) depends on other interrupt load in the module Heavy CAN-traffic
can reduce maximum frequency
CANopen Indexes
You can install CANopen communication features such as NodeIDs and CAN rates through software For
more information refer to programming manuals
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INPUT OUTPUT SPECIFICATIONS
Connector Pinout
The ECU-0710 contains inputs and outputs (IO pins) of different types There are for example inputs which
source current and outputs which sink current Furthermore there are IO pins which can be used as inputs
or as outputs at the control of the application
Connector 1
Pin Description Page Note
x11 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x12 FB See page 10 Current measuring FeedBack
x13 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x14 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x15 FB See page 10 Current measuring FeedBack
x16 FB See page 10 Current measuring FeedBack
x17 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x18 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x19 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x110 DIAI See page 11 Digital InputAnalog Input
x111 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x112 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x113 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x114 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x115 Reserved DO NOT USE (LEAVE OPEN)
x116 +5 V ref See page 12 Reference voltage for sensor
x117 DIAI See page 11 Digital InputAnalog Input
x118 DIDO See page 12 Digital InputDigital Output
x119 GND ref Reference GND for sensor
x120 DIAI See page 11 Digital InputAnalog Input
x121 DIAI See page 11 Digital InputAnalog Input
x122 DIAI See page 11 Digital InputAnalog Input
x123 DIAI See page 11 Digital InputAnalog Input
Connector 2
Pin Description Page Note
x21 GNDSUP See page 14
x22 CAN1 High See page 14
x23 GNDSUP See page 14x24 VSUP See page 14
x25 VSUP See page 14
x26 CAN1 Low See page 14
x27 CAN2 HighTxd See page 14 CAN2 not present on ECU-0710R
x28 CAN2 Low Rxd See page 14 CAN2 not present on ECU-0710R
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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Configurable IOs
Max amount
Digital input Analog input PWM output Digital output
SWG SWB Pulse Voltagecurrent Current feedback Source Source Sink
6 x x x
2 x x
2 x x
3 x
6 x x1 x x
20 2 15 4 6 3 6 6 1
The application determines usage of each IO pin
Digital Input PWM Output Digital Output
Pins X11 X13 X14 and X17hellipX19
These pins are current sourcing outputs The pin
connects the load to positive supply voltage The
application can also simultaneously monitor the
actual state of the pin This feature makes it possible
to detect short circuits to ground Open loads cannot be detected because the internal load resistor is
connected to ground
These outputs can also generate pulse width
modulated (PWM) output signals This feature is
useful when driving proportionally controlled loads
such as proportional hydraulic valves Monitoring
the state of the pin is generally not possible when
the pin is used as a PWM signal output
PWM frequencies can be configured under software
control in groups of outputs The frequency is set by
HW_SET_PWM_FREQ function call Frequency of all
channels in the group must be set together The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state and ensure unintentional switching to the ON state causes
no harm to the system
Pins X13 X14 X18 and X19
These pins include pulse counting feature (PI) For more information refer to Digital Input Pulse Input
PWM Frequency Control Groups (PFCG)
Group Channel Output pin
A
0X18
1 X19
2 -
3 -
B 4 X11
C 5 X13
D 6 X14
E 7 X17
+24V
Module
Load
Functional Block Diagram (as Output)
+24V+12V
+24V
Module
Functional Block Diagram (as Input)
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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Features
y ISO high speed CAN1 interface
y ISO high speed CAN2 interface
y Operating voltage 9ndash30 Vdc
y Over-voltage protection
y Overheating and short-circuit protection for outputs
y Gold plated locked and sealed connectors
8-pin AMPSEAL for module connection
23-pin AMPSEAL for IO
y Small outline dimensions 58 x 25 x 21 inch (147 x 63 x 53 mm)
y Weight 11 lb (05 kg)
Monitoring Functions
Applications can monitor the following
y Supply voltage
y Firmwareapplication code corruption
y Module temperature
The hardware watchdog monitors software deadlock and reboots the module automatically after 300 ms of
software deadlock
Programming Environment
Flash
y 6200 bytes flash saved parameters
y 10 separately saved sets
y Maximum application size 254 kB
CAN-bus
y User programmable CAN for all physical CAN-buses y Supported baud rates 50 100 125 250 500 and 1000 kbs
Supported protocols
y CANopen (for all physical buses)
y J1939 (only for one bus in the same module)
y ISOBUS (only for one bus in the same module)
Possible to add external c-programmed library
Minimum PWM frequency 80Hz
Maximum pulse input frequency 40 kHz Joint frequency for all pulse inputs (example four channel
in use --gt 10 kHz for each channel) depends on other interrupt load in the module Heavy CAN-traffic
can reduce maximum frequency
CANopen Indexes
You can install CANopen communication features such as NodeIDs and CAN rates through software For
more information refer to programming manuals
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INPUT OUTPUT SPECIFICATIONS
Connector Pinout
The ECU-0710 contains inputs and outputs (IO pins) of different types There are for example inputs which
source current and outputs which sink current Furthermore there are IO pins which can be used as inputs
or as outputs at the control of the application
Connector 1
Pin Description Page Note
x11 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x12 FB See page 10 Current measuring FeedBack
x13 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x14 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x15 FB See page 10 Current measuring FeedBack
x16 FB See page 10 Current measuring FeedBack
x17 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x18 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x19 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x110 DIAI See page 11 Digital InputAnalog Input
x111 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x112 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x113 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x114 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x115 Reserved DO NOT USE (LEAVE OPEN)
x116 +5 V ref See page 12 Reference voltage for sensor
x117 DIAI See page 11 Digital InputAnalog Input
x118 DIDO See page 12 Digital InputDigital Output
x119 GND ref Reference GND for sensor
x120 DIAI See page 11 Digital InputAnalog Input
x121 DIAI See page 11 Digital InputAnalog Input
x122 DIAI See page 11 Digital InputAnalog Input
x123 DIAI See page 11 Digital InputAnalog Input
Connector 2
Pin Description Page Note
x21 GNDSUP See page 14
x22 CAN1 High See page 14
x23 GNDSUP See page 14x24 VSUP See page 14
x25 VSUP See page 14
x26 CAN1 Low See page 14
x27 CAN2 HighTxd See page 14 CAN2 not present on ECU-0710R
x28 CAN2 Low Rxd See page 14 CAN2 not present on ECU-0710R
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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Configurable IOs
Max amount
Digital input Analog input PWM output Digital output
SWG SWB Pulse Voltagecurrent Current feedback Source Source Sink
6 x x x
2 x x
2 x x
3 x
6 x x1 x x
20 2 15 4 6 3 6 6 1
The application determines usage of each IO pin
Digital Input PWM Output Digital Output
Pins X11 X13 X14 and X17hellipX19
These pins are current sourcing outputs The pin
connects the load to positive supply voltage The
application can also simultaneously monitor the
actual state of the pin This feature makes it possible
to detect short circuits to ground Open loads cannot be detected because the internal load resistor is
connected to ground
These outputs can also generate pulse width
modulated (PWM) output signals This feature is
useful when driving proportionally controlled loads
such as proportional hydraulic valves Monitoring
the state of the pin is generally not possible when
the pin is used as a PWM signal output
PWM frequencies can be configured under software
control in groups of outputs The frequency is set by
HW_SET_PWM_FREQ function call Frequency of all
channels in the group must be set together The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state and ensure unintentional switching to the ON state causes
no harm to the system
Pins X13 X14 X18 and X19
These pins include pulse counting feature (PI) For more information refer to Digital Input Pulse Input
PWM Frequency Control Groups (PFCG)
Group Channel Output pin
A
0X18
1 X19
2 -
3 -
B 4 X11
C 5 X13
D 6 X14
E 7 X17
+24V
Module
Load
Functional Block Diagram (as Output)
+24V+12V
+24V
Module
Functional Block Diagram (as Input)
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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ECU-0710 Technical Reference
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INPUT OUTPUT SPECIFICATIONS
Connector Pinout
The ECU-0710 contains inputs and outputs (IO pins) of different types There are for example inputs which
source current and outputs which sink current Furthermore there are IO pins which can be used as inputs
or as outputs at the control of the application
Connector 1
Pin Description Page Note
x11 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x12 FB See page 10 Current measuring FeedBack
x13 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x14 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x15 FB See page 10 Current measuring FeedBack
x16 FB See page 10 Current measuring FeedBack
x17 DIDOPWM See page 7 Digital InputDigital OutputPulse Width Modulated output
x18 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x19 DIDOPWMPI (R) See page 7 Digital InputDigital OutputPulse Width Modulated outputPulse Input (Reset)
x110 DIAI See page 11 Digital InputAnalog Input
x111 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x112 DIPI (R) See page 8 Digital InputPulse Input (Reset)
x113 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x114 DIPI (R) See page 9 Digital InputPulse Input (Reset)
x115 Reserved DO NOT USE (LEAVE OPEN)
x116 +5 V ref See page 12 Reference voltage for sensor
x117 DIAI See page 11 Digital InputAnalog Input
x118 DIDO See page 12 Digital InputDigital Output
x119 GND ref Reference GND for sensor
x120 DIAI See page 11 Digital InputAnalog Input
x121 DIAI See page 11 Digital InputAnalog Input
x122 DIAI See page 11 Digital InputAnalog Input
x123 DIAI See page 11 Digital InputAnalog Input
Connector 2
Pin Description Page Note
x21 GNDSUP See page 14
x22 CAN1 High See page 14
x23 GNDSUP See page 14x24 VSUP See page 14
x25 VSUP See page 14
x26 CAN1 Low See page 14
x27 CAN2 HighTxd See page 14 CAN2 not present on ECU-0710R
x28 CAN2 Low Rxd See page 14 CAN2 not present on ECU-0710R
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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Configurable IOs
Max amount
Digital input Analog input PWM output Digital output
SWG SWB Pulse Voltagecurrent Current feedback Source Source Sink
6 x x x
2 x x
2 x x
3 x
6 x x1 x x
20 2 15 4 6 3 6 6 1
The application determines usage of each IO pin
Digital Input PWM Output Digital Output
Pins X11 X13 X14 and X17hellipX19
These pins are current sourcing outputs The pin
connects the load to positive supply voltage The
application can also simultaneously monitor the
actual state of the pin This feature makes it possible
to detect short circuits to ground Open loads cannot be detected because the internal load resistor is
connected to ground
These outputs can also generate pulse width
modulated (PWM) output signals This feature is
useful when driving proportionally controlled loads
such as proportional hydraulic valves Monitoring
the state of the pin is generally not possible when
the pin is used as a PWM signal output
PWM frequencies can be configured under software
control in groups of outputs The frequency is set by
HW_SET_PWM_FREQ function call Frequency of all
channels in the group must be set together The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state and ensure unintentional switching to the ON state causes
no harm to the system
Pins X13 X14 X18 and X19
These pins include pulse counting feature (PI) For more information refer to Digital Input Pulse Input
PWM Frequency Control Groups (PFCG)
Group Channel Output pin
A
0X18
1 X19
2 -
3 -
B 4 X11
C 5 X13
D 6 X14
E 7 X17
+24V
Module
Load
Functional Block Diagram (as Output)
+24V+12V
+24V
Module
Functional Block Diagram (as Input)
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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Configurable IOs
Max amount
Digital input Analog input PWM output Digital output
SWG SWB Pulse Voltagecurrent Current feedback Source Source Sink
6 x x x
2 x x
2 x x
3 x
6 x x1 x x
20 2 15 4 6 3 6 6 1
The application determines usage of each IO pin
Digital Input PWM Output Digital Output
Pins X11 X13 X14 and X17hellipX19
These pins are current sourcing outputs The pin
connects the load to positive supply voltage The
application can also simultaneously monitor the
actual state of the pin This feature makes it possible
to detect short circuits to ground Open loads cannot be detected because the internal load resistor is
connected to ground
These outputs can also generate pulse width
modulated (PWM) output signals This feature is
useful when driving proportionally controlled loads
such as proportional hydraulic valves Monitoring
the state of the pin is generally not possible when
the pin is used as a PWM signal output
PWM frequencies can be configured under software
control in groups of outputs The frequency is set by
HW_SET_PWM_FREQ function call Frequency of all
channels in the group must be set together The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state and ensure unintentional switching to the ON state causes
no harm to the system
Pins X13 X14 X18 and X19
These pins include pulse counting feature (PI) For more information refer to Digital Input Pulse Input
PWM Frequency Control Groups (PFCG)
Group Channel Output pin
A
0X18
1 X19
2 -
3 -
B 4 X11
C 5 X13
D 6 X14
E 7 X17
+24V
Module
Load
Functional Block Diagram (as Output)
+24V+12V
+24V
Module
Functional Block Diagram (as Input)
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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ECU-0710 Technical Reference
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
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AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 02 Ω
IO Output current Output on 3 A
f PWM PWM frequency Note 1 80 2550 Hz
PWM resolution Group A 5 MHz f PWM
Group B C D and E (note 1) 625 kHz f PWM
Group A fPWM=100 Hz (note 1) 50 000
Group B C D and E f PWM=100 Hz (note 1) 6250
RI Input resistance Output off 28 75 kΩ
VIH Input high voltage 48 VSUPPLY V
VIL Input low voltage Output off -05 42 V
f I Input frequency (frequency measurement and pulse
counting)
Note 2 5 7 05 5000 Hz
Input frequency tC=10 ms (note 2 3 4 6) 12 Hz
Variable tC (note 2 4 6) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 2 3 4 6) 40 ms
Variable tC (note 2 4 6) 4tC
CI Input capacitance Typ 47 nF
Notes
1 PWM capable outputs are divided into five groups All outputs in same group share the same PWM frequency (default value 140 Hz)2 Violating this rating may lead to system not recognizing all input state transitions
3 These parameters depend on software cycle time
4 tC denotes software cycle time
5 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
6 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions
7 The maximum sum of the frequencies of all the pulse input pins is 40 kHz
Digital Input Pulse Input
The application can read the pulse count and pulse
frequency from the pulse input channels The
following table shows the IW addresses of where to
read the wanted data (when using CoDeSys 21)
Pulse Input Channels
Channel Pin Pulse frequency Pulse count
0 X111 IW150 IW160
1 X112 IW151 IW161
2 X113 IW152 IW162
3 X114 IW153 IW163
4 X19 IW154 IW164
5 X14 IW155 IW165
6 X13 IW156 IW166
7 X18 IW157 IW167
For more information on pulse input channels refer to Hardware Library manual (HW lib)
Pins X111 and X112
These pins are ground referenced inputs (DI ) including pulse counting (PI ) feature These pins have 22 k Ω
pull-up resistor connected to +5 V
+5V
Module
Functional Block Diagram
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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ECU-0710 Technical Reference
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
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ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
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ECU-0710 Technical Reference
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The controller provides the application with the number of the pulses seen in the input in addition to the
normal input state There are three variables associated with each pin of this type in PLCopen programming
environment The first is a bit variable in the IX area similar to pins without the PI features The other two are
word variables in the IW memory area which hold the frequency value and the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximumfrequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Referenced to +5 V 21 23 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency measurementand pulse counting)
Note 1 4 6 5 kHz
Input frequency (normal input) tC=10 ms (note 1 2 3 5) 12 Hz
Variable tC (note 1 3 5) 983089frasl983096 tC
tI Input pulse width Note 1 4 50 micros
tC=10 ms (note 1 2 3 5) 40 ms
Variable tC (note 1 3 5) 4tC
CI Input capacitance 08 12 nF
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
4 Applies to inputs used for pulse counting Violating this rating may lead to incorrect measurement or counting
5 Applies to inputs used as normal digital input Violating this rating may lead to application not noticing all input state transitions6 The maximum sum of the frequencies of all the digital inputpulse input pins (in this Section 33) is 40 kHz
Pins X113 and X114
These are ground referenced inputs (DI ) including
pulse counting (PI ) feature These pins have 10 k Ω
pull-down resistor connected to GND
The controller provides the application with
frequency and pulse count in addition to the
normal input state There are three variables
associated with each pin of this type in the PLCopen
programming environment The first is a bit
variable in the IX area similar to pins without the PI
features The other two are word variables in the IW memory area which hold the frequency value and
the number of pulses
After starting up the module measures only the pulse frequency Pulse counting if needed must be enabled
explicitly by the application Counting pulses competes with the application and other processes for CPU time
This makes it difficult to estimate the actual maximum frequency the module is able to count reliably
Note If all units are connected to their maximum frequencies the module can freeze To reach the maximum
frequencies there is no room for application or any other processes like CAN traffic So the practical limits are lower
but the maximum values of the table still give the basis for the estimation
+12V+24V
Module
Functional Block Diagram
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ECU-0710 Technical Reference
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Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
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ECU-0710 Technical Reference
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Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
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Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
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ECU-0710 Technical Reference
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Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
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ECU-0710 Technical Reference
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 101610
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Inputs of this type are also suitable for quadrature sensor position counting These inputs can be logically
paired with another similar input The result is a two channel pulse counter which is capable of detecting the
direction of movement The pairing is done in the application
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance VI greater than 43 V (note 1) 90 11 kΩ
Referenced to 13 V VI less than 43 V (note 1) 62 76 kΩ
VIH Input high voltage 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency (frequency
measurement and pulse counting)
(Note 2 3 6 8) 5 kHz
Input frequency (normal inputs) tC=10 ms (note 3 4 5 7) 12 Hz
Variable tC (note 3 5 7) 983089frasl983096 tC
tI Input pulse width (Note 3 6) 50 micros
tC=10 ms (note 3 4 5 7) 40 ms
Variable tC (note 3 5 7) 4tC
CI Input capacitance 08 12 nF
Notes1 With input voltages below 43 V it responds as if the internal input resistance was connected to a 13 V source
2 All conditions must be respected Even if some of the inputs are not used for frequency measurement or pulse counting these
conditions must be respected regarding those inputs as well Otherwise this may interfere with operation of other inputs3 Violating this rating may lead to system not recognizing all input state transitions
4 These parameters depend on software cycle time
5 tC denotes software cycle time
6 Applies to inputs used for frequency measurement and pulse counting Violating this rating may lead to incorrect measurement
or counting
7 Applies to inputs used as normal digital inputs Violating this rating may lead to application not noticing all input state transitions
8 The maximum sum of the frequencies of all the digital inputpulse input pins in this group is 40 kHz
Current Measuring Feedback
Pins X12 X15 and X16
These are normally used as a return path for the
loads of PWM outputs These pins have a small
shunt resistor connected to ground The shuntresistor helps measure the current flowing through
the load These pins may measure current from
other sources as well
In the PLCopen programming environment there is
a word variable in the IW area associated with each
pin where the software can read the actual current
flowing into the pin
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RI Input resistance Typ 01 ΩII Input current Analog measuring range 00 227 A
Input max total current (Note 1) 27 A
TIRE Total Input Referred Error 110 mA
Notes1 Exceeding the max value might cause damage to input
+24V
Module
Load
Functional Block Diagram
A pin where the upper wire of the load is connected is PWM output
digital output This illustrates the normal way to connect loads
when load current measurement is desired
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 141614
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
8102019 TR ECU 0710
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ECU-0710 Technical Reference
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Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
8102019 TR ECU 0710
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ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Digital Input Analog Input
Pins X110 X117 X120hellipX123
These are analog inputs The application can configure
each pin as a voltage input or a current input
Pins of this kind measure analog signals They are
high-impedance voltage inputs for signals from
0 to 5 volts or low-impedance current inputs forsignals from 0 to 227 mA
A bit in an Input Impedance Configuration Register
(IICR ) controls the input impedance This register
is invisible to the programmer but the HW_SET_
AI_TYPE function call can write to it
Note When an input like this is configured as a low-
impedance current input it canrsquot withstand the normal
maximum input voltage rating The maximum rating is
lowered in this case to 15 volts
In the PLCopen programming environment there is
a word variable in the IW area associated with eachpin where the software can read the actual signal
magnitude at the pin
In carefully selected applications these pins can
also function as digital inputs Generally it is not
recommended There are bits in IX area associated with these inputs to support the DI functionality
Note In high-impedance voltage input configuration these pins have low threshold voltage which is quite sensitive
to interference signals In low-impedance current input configuration they are subject to damage if they are
connected for example to 24 volt system voltage
Input Impedance Configuration Register (IICR)
Bit Input pin
IICR0 X110
IICR1 X117
IICR2 X120
IICR3 X121
IICR4 X122
IICR5 X123
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
VI Input voltage Analog measuring range 00 50 V
II Input current Analog measuring range 00 227 mA
VIH Input high voltage (Note 1) 20 30 V
(Note 2) 20 15 V
VIL Input low voltage -05 10 V
IIH Input high current (Note 2) 90 27 mA
IIL Input low current (Note 2) -23 45 mA
RI Input resistance (Note 1) 81 83 kΩ
(Note 2) 219 225 W
TIRE Total input referred error (Note 1) 012 V
(Note 2) 07 mA
TI Time constant of input low pass filter (Note 1) 31 47 ms
Notes1 Input configured for voltage measurement (220 Ω input resistor disconnected)
2 Input configured for current measurement (220 Ω input resistor connected)
+24V
Module
ldquo0rdquo
Functional Block Diagram
(High-impedance voltage input)
+24V
Module
ldquo1rdquo
Functional Block Diagram
(Low-impedance current input)
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 121612
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1316 13
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 141614
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1516 15
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 121612
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Digital Input Digital Output (sinking)
Pin X118
This pin is a current sinking output It connects the
load to ground The application can also monitor
the actual state of the pin This feature makes it
possible to detect open load and short circuit to
supply voltage
The application can use this type of pin as an input
using output state monitoring
Note Take care to keep the output pin in the OFF state
and ensure unintentional switching to the ON state
causes no harm to the system
There are two bit variables associated with each
pin of this type in the PLCopen programming
environment The first is one of the QX output bits
for controlling the pin as an output The second is
one of the IX input bits for monitoring the actual
state of the output or reading the pin as an input
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
RO Output resistance Output on 012 Ω
IO Output current Output on 3 A
RI Input resistance Output off 9 11 kΩ
VIH Input high voltage Output off 48 30 V
VIL Input low voltage -05 42 V
f I Input frequency tC=10 ms (note 1 2 3) 12 Hz
Variable tC (note 1 3) 983089frasl983096 tC
tI Input pulse width tC=10 ms (note 1 2 3) 40 ms
Variable tC (note 1 3) 4 tC
Notes1 Violating this rating may lead to system not recognizing all input state transitions
2 These parameters depend on software cycle time
3 tC denotes software cycle time
Specification for Internal Diagnostics
The application can read the modulersquos internal temperature and incoming operating voltage from the IEC
addresses with the numerical values and resolutions shown in the following table
Type IEC address Precision FS Resolution bits Full reading Notes
AI(TEMP) IW109 le plusmn50 10 5 V TEMP (ordmC) = (IW109-5177) 813
AI(Vsupply) IW110 le plusmn50 10 46 V
+5 V Reference
Pin X116
This is an internally regulated and monitored
reference voltage supply for external devices The
application can switch this output onoff
Protection Features
y Over-current
y External voltage protection
y Errors are indicated with a fault signal
+24V
Module
Load
Functional Block Diagram (sinking output)
Functional Block Diagram (input)
+24V
Module
Module
47 ohm
+5V
Functional Block Diagram
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1316 13
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 141614
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1516 15
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1316 13
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Voltage Monitoring
The application can monitor output level
Pin Loading
This pin has 47 ohms to +5 V Loading the pin
causes voltage to drop as shown in the table
Electrical Characteristics
Symbol Parameter Conditions Min Max Units
Vo-level Output voltage Output on unconnected pins typ 5 V
Ro Output resistance Output on 47 Ω
Io Nominal output current Output on max total for all pins together 0 270 mA
Io-lim Internal current limitation Output on (note 2 3) typ 370 mA
Io-sc Short-circuit current limit Output on over-current typ 270 mA
Co Output capacitance typ 47 microF
VI-max Max input voltage Overload conditions (note 1) 0 33 V
Voltage monitoring
VI-range Nominal voltage measuring range 0 5 V
Notes1 When output voltage is under overload conditions for example short circuit exceeding the maximum value might cause damage
to output
2 Current limit for over-current protection limits internal power dissipation
3 When current exceeds the limit the controller regulates output current and switches the output to over-current mode
CONNECTIONS AND WIRING
Connector Diagram
AMPSEAL Components
HydraForce uses gold plated locked and sealed AMPSEAL heavy duty connectors for all ECU products to
ensure endurance in extreme conditions
y
8-pin AMPSEAL for power and system CAN connections y 23-pin AMPSEAL for IO
y All connectors are mechanically keyed to mate only with identical colors
Connector Parts
AMPSEAL component Mfg part number HydraForce part number
AMP 23-pin gray plug (female) 770680-4 4000361
AMP 8-pin black plug (female) 776286-1 4000363
AMP gold socket contact 770854-3 4000369 (100 pc)
AMP wire seal plug 770678-1 4000370 (100 pc)
CurrentVoltage
Current draw Voltage (typical)
0 mA 500 V
75 mA 483 V
100 mA 477 V
150 mA 465 V
200 mA 453 V
1
E C U - 0 7 1 0
X
2
Connector 1 Connector 2
1
1
8 8
1623
3
6
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 141614
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1516 15
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 141614
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
AMPSEAL Cable Dimensions
Size Insulation diameter rangein (mm)
Strip length in (mm)plusmn0015 (04)kcmil (mmsup2) AWG
102 (052) 20 0067 (17)
to
0106 (27)
02 (51)
162 (082) 18 02 (51)
258 (131) 16 02 (51)
Typical hand crimping tool eg AMP Procrimper 58529-1
Notes1 All applied cables should be properly shielded bundled and grounded
2 See the General Mounting and Cabling Instructions for HydraForce ECUs for more detailed information about the cabling
Closed Loop Wiring
We strongly recommended using closed loops for connecting all sensors actuators etc to the module
Closed loop wiring can be achieved by connecting the GND wire from the sensor actuator etc into the GND
pin of the module If it is not possible to use closed loops use DIPI pins or DIAI pins instead
BUS CONNECTION
Bus Connection Pins The CAN communication pins and the power
supply are connected in the modulersquos AMP8
connector as follows
CAN Interface
y Higher layer protocol is user programmable (CAN2) communication
y The physical interface of CAN interface is according to ISO 11898 and CAN 20B protocol
y The downloading of the applications can only be done via CAN1
POWER SUPPLY
bull Nominal supply voltage +12 or 24 Vdc
bull Operating range 9ndash30 Vdc
bull No saving operations (program flashing or parameter storing) into permanent memory can be done
under 115 Vdc
bull Undervoltage reset le 90 Vdc
Over-voltage
bull Max 70 Vdc (stresses above this value may cause permanent damage to the module)
bull Module can handle only short period transients of greater voltages than 34 V The complete protectioncan be achieved with CAN hub module (ECU-0408H) The hub module is designed to protect the
system against power line transients
Power Consumption
bull Approx 18 W (+24 Vdc no external load)
bull Supply Voltage (VSUPPLY) maximum continuous current 10 A (with full external load)
Bus Connection Pins
Designation Connector pin
CAN1 interface (system interface) X22 (CAN H)
X26 (CAN L)
CAN2 interface X27 (CAN H)
X28 (CAN L)
Fac to ry us e on ly (t hi s p in mu st be left op en ) X 115
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1516 15
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1516 15
ECU-0710 Technical Reference
TR_ECU-0710 bull 0914 bull copy 2014 HydraForce Incwwwhydraforcecom
Power Supply Pins
Designation Connector pin Potential
Supply voltage X24
X25
+12 or 24 Vdc (+9hellip30 Vdc)
Supply ground X21
X23
GND
Reference voltage (47 Ω serial resistor) X116 +5 Vdc
Reference ground (47 Ω serial resistor) X119 GND
HOUSING
bull Closed light cast aluminum housing
bull Powder-painted hexavalent chromium-free passivation for aluminum
bull Puncture hole fastening
Mounting
bull 2 M6 screws to DIN 912
bull Mounting position horizontal or vertical
to allow water etc flowing away fromconnectors
bull See the General Mounting and Cabling
Instructions for HydraForce ECUs for more
detailed information about the module
mounting
Dimensions
Mounting Surface M o un t i n g S ur f a c e
1ECU-0710
X
2 535
1360
166
421
038 95
248
630
024
62Dia
Mounting Holes
211
536
581
1475
All Dimensionsfor reference only
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom
8102019 TR ECU 0710
httpslidepdfcomreaderfulltr-ecu-0710 1616
ECU-0710 Technical Reference
HydraForce Inc
500 Barclay Blvd
Lincolnshire IL 60069
Phone +1 847 793 2300
Fax +1 847 793 0086
Member National Fluid Power Association
ISO 9001
HydraForce Hydraulics LtdSt Stephens Street
Birmingham B64RG England
Phone +44 121 333 1800
Fax +44 121 333 1810
Member British Fluid Power Association and
Verband Deutscher Maschinen-und Anlagenbau eV (VDMA)
ISO 9001 amp ISO 14001
HydraForce Hydraulic
Systems (Changzhou) Co Ltd
388 W Huanghe Road Building 15A
GDH Changzhau Airport Industrial Park Xinbel District
Changzhou Chine 213022
Phone +86 519 6988 1200
Fax +86 519 6988 1205
ISO 9001
GLOBAL SALES OFFICES
HydraForce Hydraulics India
Vatika Business Centre
Suite No 22 Level 5 C Wing
Techpark One Airport Road
Yerwada Pune 411006Maharashtra India
Tel +91 020 40111304
Fax +91 020 40111105
Email nileshrhydraforcecom
HydraForce Hydraulics Ltd
Prager Ring 4-12
D-66482 Zweibruumlcken Germany
Tel +49 (0) 6332 79 2350
Fax +49 (0) 6332 79 2359
Member Verband Deutscher Maschinen-und
Anlagenbau eV (VDMA)
Email sales-germanyhydraforcecom
HydraForce Korea LLC
A-506 Bupyeong Woorim Lions Valley 283
Bupyeong-daero Bupyeong-gu
Incheon Korea 403-911
Tel +82 32 623 5818
Fax +82 32 623 5819
Email jong-seonglhydraforcecom