® Instruction book

IQAN-XA2
Publ no. HY17-8385-IB/UK
Edition: September, 2007
 Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Safety symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
General safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
IQAN-XA2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
System Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Mounting the module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
IQAN-XA2 addressing/terminating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Reference voltage, VREF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Voltage inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Frequency inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Quadrature and directional frequency inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Proportional outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Connecting loads to proportional outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Start-up procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
IQAN-XA2 Technical Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Error codes, messages and actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Appendix C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Failure Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Appendix D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Dimensioning of the IQAN-XA2 module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Instruction book, IQAN-XA2 II

 Safety symbols
1 Introduction

1 Introduction

These instructions are to be used as a reference tool for the vehicle manufacturer’s design, pro-
duction, and service personnel.
The user of these instructions should have basic knowledge in the handling of electronic equip-
ment.

Safety symbols
Sections regarding safety, marked with a symbol in the left margin, must be read and understood
by everyone using the system, carrying out service work or making changes to hardware and
software.
The different safety levels used in this manual are defined below.

W ARNING
Sections marked with a warning symbol in the left margin, indicate that a hazardous situation
exists. If precautions are not taken, this could result in death, serious injury or major property
damage.

C AUTION
Sections marked with a caution symbol in the left margin, indicate that a potentially hazardous
situation exists. If precautions are not taken, this could result in minor injury or property dam-
age.

N OTICE
Sections marked with a notice symbol in the left margin, indicate there is important information
about the product. Ignoring this could result in damage to the product.

Contact the manufacturer if there is anything you are not sure about or if you have any questions
regarding the product and its handling or maintenance.
The term "manufacturer" refers to Parker Hannifin Corporation.

Instruction book, IQAN- XA2 3

 General safety regulations
2 Precautions

2 Precautions

General safety regulations

Work on the hydraulics control electronics may only be carried out by trained personnel who are
well-acquainted with the control system, the machine and its safety regulations.

W ARNING
Mounting, modification, repair and maintenance must be carried out in accordance with the
manufacturer's regulations. The manufacturer has no responsibility for any accidents caused by
incorrectly mounted or incorrectly maintained equipment. The manufacturer does not assume
any responsibility for the system being incorrectly applied, or the system being programmed in
a manner that jeopardizes safety.

W ARNING
Damaged product may not be used. If the control system shows error functions or if electronic
modules, cabling or connectors are damaged, the system shall not be used.

W ARNING
Electronic control systems in an inappropriate installation and in combination with strong elec-
tromagnetic interference fields can, in extreme cases, cause an unintentional change of speed of
the output function.

N OTICE
As much as possible of the welding work on the chassis should be done before the installation of
the system. If welding has to be done afterwards, the electrical connections on the system must
be disconnected from other equipment. The negative cable must always be disconnected from
the battery before disconnecting the positive cable. The ground wire of the welder shall be posi-
tioned as close as possible to the place of the welding. The cables on the welding unit shall
never be placed near the electrical wires of the control system.

Construction regulations
C AUTION
The vehicle must be equipped with an emergency stop which disconnects the supply voltage to
the control system's electrical units. The emergency stop must be easily accessible to the opera-
tor. The machine must be built if possible, so that the supply voltage to the control system's elec-
trical units is disconnected when the operator leaves the operator’s station.

Safety during installation

C AUTION
Incorrectly positioned or mounted cabling can be influenced by radio signals which can inter-
fere with the functions of the system.

Safety during start-up

W ARNING
The machine's engine must not be started before the control system is mounted and its electrical
functions have been verified.
Ensure that no one is in front, behind or nearby the machine when first starting up the machine.
Follow the instructions for function control in the Start-up section.

Instruction book, IQAN- XA2 4

 General safety regulations
2 Precautions

Safety during maintenance and fault diagnosis

C AUTION
Ensure that the following requirements are fulfilled before any work is carried out on the
hydraulics control electronics.
• The machine cannot start moving.
• Functions are positioned safely.
• The machine is turned off.
• The hydraulic system is relieved from any pressure.
• Supply voltage to the control electronics is disconnected.

Instruction book, IQAN- XA2 5

 IQAN-XA2
3 Product description

3 Product description

IQAN-XA2
The IQAN-XA2 is a flexible expansion module designed for controlling hydraulic systems in
vehicles and machinery, using 12/24 Vdc power supply.

The IQAN-XA2 module.

I/O overview

+BAT ADDR-H
-BAT ADDR-L
+VREF CAN-H
-VREF CAN-L

XA2
PORT 0 PORT 1

PORT 2

Inputs
The IQAN-XA2 module has eight (8) voltage inputs VIN-A thru VIN-H for
connection of 0-5 Vdc signals. The inputs VIN-E thru VIN-H are multi-purpose and for flexibil-
ity may be configured in other ways. The two input pins VIN-E and VIN-G can be configured as
frequency inputs for measuring frequency. The group of four pins VIN E thru VIN H can be
configured as quadrature or directional inputs for measuring directional frequency. Voltage
inputs,
frequency inputs, quadrature inputs and directional inputs share positions, see below.
(8) Voltage inputs VIN-A, VIN-B, VIN-C, VIN-D.....VIN-H

or

(6) Voltage inputs VIN-A thru VIN-D,VIN-F and VIN-H.

(2) Frequency inputs FIN-A and FIN-B use positions VIN-E and VIN-G.

or

(4) Voltage inputs VIN-A thru VIN-D. (2) Quadrature or Directional inputs
DFIN-A+/DFIN-A- and DFIN-B+/DFIN-B- use positions VIN-E thru VIN-H.

or

(8) Digital inputs DIN-A, DIN-B.....DIN-H use positions VIN-A thru VIN-H.

Instruction book, IQAN- XA2 6

 IQAN-XA2
3 Product description

Proportional outputs
The XA2 module has six (6) double proportional outputs for controlling proportional valves.
These outputs can control six bi-directional valve sections or six single solenoid devices (ie.
proportional cartridge valves). The proportional outputs can be used in two different modes.
Either Current mode (current closed loop) or PWM mode (voltage open loop) signals can be
selected and the parameters configured using IQAN software.
For flexibility these outputs may also be configured as up to six (6) on/off outputs and up to
twelve (12) on/off intputs. The proportional outputs, on/off outputs and on/off inputs share posi-
tions, see below.
(6) double proportional outputs COUT-A thru COUT-F

or

(6) on/off outputs DOUT-G thru DOUT-L, each pair of return pins may then be
used as (2) on/off inputs, (12) total, DIN-I thru DIN-T.

In order to increase the performance of proportional outputs when controlling proportional

valves, the dither frequency can be adjusted.

High power On/Off outputs

The XA2 module has six (6) on/off outputs that are high-side power outputs. These outputs may
not be configured as proportional, see below.
(6) On/off outputs DOUT-A thru DOUT-F

CAN related functions

The master uses the CAN-bus (CAN = Controller Area Network) to communicate with the
modules. The CAN-bus is a robust communication protocol that is widely used and well proven
within the automotive industry.

Instruction book, IQAN- XA2 7

 General
4 Safety

4 Safety

General
In order to fulfill the highest safety demands, the XA2 module uses a real-time operating system
for fault tolerant embedded systems. The XA2 module has an internal watchdog function. If the
RTOS (real time operating system) detects any software errors, necessary precautions will be
activated and the watchdog will reset the module.

Polarity reversal
The XA2 module is protected against power supply polarity reversal, provided an external fuse,
max 20 A (Fast) is being used.
If this fuse is not used, polarity reversal can damage the unit.

CAN-bus interruption
The XA2 module has special safety functions if the CAN-bus is interrupted. Each module
checks for any interruptions in the CAN-bus communication. If an error occurs the master unit
will present a related message on the display. The module also indicates the error with an error
code ref, section System Diagnostics, on page 9.

Input/ output Protection

All inputs on the XA2 module are designed to withstand the maximum specified supply voltage.
The outputs are protected against short circuit. Furthermore, an error on one input/output will
not influence other inputs/outputs.

Current check
For the proportional outputs when used in current mode, a current check is performed. If an
error occurs, the user will be notified through an error message on the display and the module’s
LED will show an appropriate error code.
The XA2 module can detect open-circuit, short-circuit to +BAT/-BAT or short-circuit to other
proportional output and return pins. In these cases the module will shut off the affected output in
order to increase safety.

Built-in test
The XA2 module will execute a self-test during operation to verify the hardware and the soft-
ware.
The test includes CAN- bus verification, memory integrity check and an internal signal verifica-
tion. If any error is detected appropriate precautions will be activated.

Instruction book, IQAN- XA2 8

 System Diagnostics
4 Safety

System Diagnostics
The yellow blinking LED on the top of the module indicates normal status. If there is an error
detected, the master will present a message on the display. The XA2 module also indicates error
status through the red blinking LED.
This gives an immediate diagnosis as to the nature of the error that has occurred.

Yellow/ red, status

Green, power on

The location of the LED indicators on the IQAN-XA2 module.

The green LED indicates power on. The yellow/red LED, will be blinking red when an error has
been detected. To get futher information about the error messages, see Appendix B, on page 32

A small recommendation...
You can use the internal diagnostics in the master to get more information about the XA2 mod-
ule. The following values are supervised:
Internal temperature [°C]

Power supply [V]

Reference voltage [V]

CAN address voltage [V]

Instruction book, IQAN- XA2 9

 Mounting the module
5 Mounting

5 Mounting

Mounting the module

The IQAN-XA2 module should be mounted according to the following instructions:
• Locate the module eliminating the risk for the cabling to be folded, crushed or damaged in
any way. Ensure the cabling cannot pull, twist or induce sideload on the connector.
• Locate the module so that severe physical impact is avoided, e.g impact from falling objects
or the module being used as a step.
• Locate the module so that air can circulat to eliminate excess heat. Ensure that no external
heat, e.g. from the engine or heater, is transferred to the module.
• Locate the module to protect it from high pressure washing or similar.
• Locate the module so that the cable connector is facing down .
• Locate the module so that the LEDs are visible.

Non approved placing.

N OTICE
The IQAN-XA2 module must not be placed in any marine related or similar continuously damp
environment without external protection.

Assembling of the ID-Tag

The ID-Tag will be placed in the connector in order to address/ terminate the module, ref section
IQAN-XA2 addressing/terminating, on page 15.
The ID-Tag will be mounted under the connector casing. Bend the ID-Tags´ cables toward the
opposite side of where the other cables enter the connector.

Assembling of the Id-Tag.

Instruction book, IQAN- XA2 10

 Mounting the module
6 Installation

6 Installation

Connector C1
Connector kit Parker no. 5031063
42 29

Housing Amp no. 1-963226-1 28 15

14 1
Casing Amp no. 0-965643-1 *= The connector contains two types
of terminals; MT (Micro Timer) and
Plane sealing, 42 p installed in module JPT (Junior Power Timer).

Pin types* Amp no. 963711-2 (MT) Amp no. 929938-1 (JPT)

Cables 0,75-1,0 mm² (MT) 1,5-2,5 mm² (JPT)

Seals Amp no. 963530-1 (MT) Amp no. 828905-1 (JPT)

Plugs (empty pos.) Amp no. 963531-1 (MT) Amp no. 828922 (JPT)

IQAN crimping tool Blue handle, pos. A Red handle, pos. B

references use blue extraction tool use yellow extraction tool

IQAN tool kit Parker no. 5031061

Connector pin assignments

+BAT ADDR-H
-BAT ADDR-L
+VREF CAN-H
-VREF CAN-L

XA2
PORT 0 PORT 1

PORT 2

Logical Pin (I)nput or Function description

Symbol No. (O)utput and/or Signal name(s)

+BAT 28 - Power supply, positive.

-BAT 15 - Power supply, negative ground

+VREF 42 - Voltage reference for external sensors. Sourcing +5V.

-VREF 29 - Voltage reference for external sensors. Return (0V).

ADDR-H 1 - High side to address tag. Sourcing +5V.

ADDR-L 14 - Low side to address tag. Return (0V).

CAN-H 26 - CAN high voltage bus line, will be HIGH in dominant state.
27 -

CAN-L 40 - CAN low voltage bus line, will be LOW in dominant state.
41 -

Instruction book, IQAN- XA2 11

 Mounting the module
6 Installation

Logical Pin (I)nput or Function description

Symbol No. (O)utput and/or Signal name(s)

P0 P0 is an 8 pin input port with alternate functions on four inputs.

VIN DIN DFIN FIN

I
P0.0 10 I VIN-A DIN-A - -
P0.1 11 I VIN-B DIN-B - -
P0.2 12 I VIN-C DIN-C - -
P0.3 13 I VIN-D DIN-D - -
P0.4 24 I VIN-E DIN-E DFIN-A+ FIN-A
P0.5 25 I VIN-F DIN-F DFIN-A- -
P0.6 38 I VIN-G DIN-G DFIN-B+ FIN-B
P0.7 39 VIN-H DIN-H DFIN-B- -
Note: DIN-A to DIN-H have high impedance inputs (62K Ohm).

P1 P1 is an 6 pin output port.

DOUT

P1.0 8 O DOUT-A
P1.1 9 O DOUT-B
P1.2 22 O DOUT-C
P1.3 23 O DOUT-D
P1.4 36 O DOUT-E
P1.5 37 O DOUT-F

P2 P2 is an 18 pin input/output port with alternative functions.

COUT PWMOUT DIN DOUT

P2.0 2 O COUT-A PWMOUT-A - DOUT-G

P2.1 16 O/I CRET-A+ PWMRET-A+ DIN-I -
P2.2 30 O/I CRET-A- PWMRET-A- DIN-J -

P2.3 3 O COUT-B PWMOUT-B - DOUT-H

P2.4 17 O/I CRET-B+ PWMRET-B+ DIN-K -
P2.5 31 O/I CRET-B- PWMRET-B- DIN-L -

P2.6 4 O COUT-C PWMOUT-C - DOUT-I

P2.7 18 O/I CRET-C+ PWMRET-C+ DIN-M -
P2.8 32 O/I CRET-C- PWMRET-C- DIN-N -

P2.9 5 O COUT-D PWMOUT-D - DOUT-J

P2.10 19 O/I CRET-D+ PWMRET-D+ DIN-O -
P2.11 33 O/I CRET-D- PWMRET-D- DIN-P -

P2.12 6 O COUT-E PWMOUT-E - DOUT-K

P2.13 20 O/I CRET-E+ PWMRET-E+ DIN-Q -
P2.14 34 O/I CRET-E- PWMRET-E- DIN-R -

P2.15 7 O COUT-E PWMOUT-E - DOUT-L

P2.16 21 O/I CRET-E+ PWMRET-E+ DIN-S -
P2.17 35 O/I CRET-E- PWMRET-E- DIN-T -

Notes:
If a COUT block (COUT-x, CRET-x+, CRET-x-) is used, all three pins
are configured for COUT.

If a PWMOUT block (PWMOUT-x, PWMRET-x+, PWMRET-x-) is

used, all three pins are configured for PWMOUT.

If a DIN-x or DOUT-x is used in a block (COUT-x, CRET-x+,

CRET-x-), all three pins are configured as corresponding DIN-x and
DOUT-x.

DIN-I to DIN-T are equipped with clamping diode, risk for

“backending”.See section Connecting switches to the digital inputs, on
page 20

Shaded positions are Junior Power Timer pins. Unshaded positions are Micro Timer II pins. See above for wire, seal, pin
number and crimping tool information. The IQAN tool kit is found in the ’IQAN accessories’ datasheet.

Instruction book, IQAN- XA2 12

 Supply voltage
6 Installation

Supply voltage
Before any installation of the IQAN system can take place, make sure the ignition lock is turned
off and the battery is disconnected.

Emergency stop
Make sure an Emergency Stop disconnecting the power supply, is easily accessible at any time.
Further relevant regulations are to be found in Machinery Directives 9837/EC. The figure below
shows how to connect the emergency stop.

Connecting of Supply Voltage

The supply voltage, should be within the operating interval, see Appendix A, on page 28. Con-
nect the supply voltage to +BAT, position 28 and -BAT, position 15. Protect the module by using
a fuse. Requisite fuse level should be 20 A, fast (F).

42 29
28 15
Emergency Stop
14 1

+BAT, pos. 28 20 A *

+ -

-BAT, pos.15
* Symbol for disconnecting
switch for battery, ignition
lock and other fuses.

Connecting the emergency stop and voltage supply.

N OTICE
Do not use the chassis as the negative terminal.

Instruction book, IQAN- XA2 13

 Supply voltage
6 Installation

Multiple modules connected to voltage supply

When connecting several XA2 modules, all of the units will have to be separately connected to
the battery voltage and each unit protected with a fuse. Requisite fuse level should be 20 A, fast
(F).

EXAMPLE

XA2-A0 XA2-A1 XA2-A2 XA2-A3

- + - + - + - +
+BAT, pos. 28
-BAT, pos. 15

20 A
*
+ -
-BAT +BAT

* Symbol for disconnecting

switch for battery, ignition
lock and other fuses.

Connecting several modules to the power supply.

Instruction book, IQAN- XA2 14

 IQAN-XA2 addressing/terminating
6 Installation

IQAN-XA2 addressing/terminating
Addressing
Each XA2 module will have a specific address, enabling the master module to communicate
with the modules through the CAN-bus. When operating, the system distinguishes between dif-
ferent modules by first verifying the module type and secondly, through the modules having
unique addresses.

EXAMPLE
If having an XA2 module with address 0, the system will denote this one as XA2-
A0, The letter "A" refers to CAN-bus A.

The maximum number of similar modules in a system is four or eight depending on the master
module, denoted in the first case as addresses 0, 1, 2, 3 respectively. In order to assign any XA2
module a unique CAN-address, an ID-Tag will have to be connected to the positions ADDR-H
and ADDR-L.

42 29
28 15
14 1

ADDR-L, pos. ADDR-H, pos.

ID-Tag

Connecting of Id-Tag.

Terminating
To eliminate interference in the communications through the CAN-bus, the CAN-bus must be
terminated. Because the master module is always located at the beginning of the bus, the master
is provided with an internal termination.
You will only need to terminate the end of the bus.
If an IQAN-XA2 is located at the end of the CAN-bus then use an ID-tag having a combined
address and terminating function. This is denoted with a "T" for terminating, after the appropri-
ate address such as; 0T, 1T, 2T...

Selecting appropriate Id-Tag

• Check the address number of the module.
• If the module is located at the end of the CAN-bus then select the appropriate ID-Tag
denoted with a "T".

N OTICE
The CAN-bus must not be terminated at the XA2 using an external regular terminating resistor,
due to the fact that terminating is made from within the XA2 module in conjunction with the ID-
Tag.

Instruction book, IQAN- XA2 15

 Reference voltage, VREF
6 Installation

Reference voltage, VREF

The XA2 module is internally equipped with a voltage regulator to generate the reference volt-
age VREF. The standard reference voltage will feed different kinds of sensors and potentiome-
ters.

+VREF, pos 42
-VREF, pos 29

VREF positions.

N OTICE
Maximum load for the VREF is different according to 12/24 Vdc power
supply, see Appendix A, on page 28.

Instruction book, IQAN- XA2 16

 Voltage inputs
6 Installation

Voltage inputs
Connecting sensors to the voltage inputs
The sensor signal range must be 0-5 Vdc. To detect signal errors such as short circuits or inter-
ruptions the active signal range be within 0.5-4.5 Vdc.

[V]
5 Error detection range

Active signal range

0 Error detection range

t

Active signal range.

The current consumption related to the voltage input is negligible.

The positive terminal of the sensor is connected to the +VREF position and the corresponding
negative terminal to the -VREF position. The sensor signal is connected to appropriate VIN
position.

EXAMPLE
Connect the positive and negative terminals of the position sensor to +VREF, posi-
tion 42, and -VREF, position 29, respectively. Then connect the sensor signal to
VIN-A, position 10.

42 29
28 15
14 1

+VREF, pos. 42
VIN-A, pos. 10

Position Sensor -VREF, pos. 29

Connecting VREF and sensor signal VIN-A.

N OTICE
The negative terminal of the sensor must not be connected to the chassis.
Maximum load for VREF position: see Appendix A, on page 28.

Instruction book, IQAN- XA2 17

 Voltage inputs
6 Installation

Connecting a temperature sensor to voltage in

When you connect a temperature sensor you may need to use a pull up
resistor on the input signal. Please check the technical data for your specific temperature sensor.

EXAMPLE
Connect the negative terminal of the temperature sensor to -VREF,
position 29, and the signal to VIN-A, position 10. The pull up resistor will be con-
nected between VIN-A, position 10 and +VREF, position 42.

VREF+

42 29
4,7k Pull up
28 15
VIN
14 1

VREF-
+VREF pos 42

Pull up
VIN-A pos 10 -VREF pos 29

Connecting -VREF and temperature sensor signal VIN-A.

The pull up resistor is 4,7 KΩ.

Instruction book, IQAN- XA2 18

 Voltage inputs
6 Installation

Connecting switches to the voltage inputs

Switches could be connected to the voltage inputs, to create a digital on/off signal. The switches
should be connected to +VREF and VIN/DIN respectively for 5V signal. The current consump-
tion for the input is negligible.

EXAMPLE
Connect the positive and negative terminals of the switch to +VREF, position 42,
and VIN-A/DIN-A, position 10, respectively.

42 29
28 15
14 1

+VREF, pos. 42
VIN-A/DIN-A, pos. 10

Connecting a switch to VIN-A/DIN-A and VREF.

N OTICE
Maximum load for VREF position, see Appendix A, on page 28.
It is recommended to connect system voltage +BAT to the input through a switch in order to
reserve 5Vdc VREF for sensors and potentiometers.

EXAMPLE
Connect the positive and negative terminals of the switch to supply or the unit’s
+BAT, position 28 and VIN-A/DIN-A, position 10, respectively.

42 29
28 15
14 1

+BAT, pos. 28

VIN-A/DIN-A, pos. 10

Connecting a switch to VIN-A/DIN-A and +BAT.

DIN-A to DIN-H
These 8 digital inputs share pins with VIN-A to VIN-H and have high impedance characteris-
tics. The above examples apply to these inputs.

DIN-I to DIN-T
These 12 digital inputs share pins with the RET pins of the proportional output channels. They
have low impedance characteristics and an internal power clamping diode. If used they must be
connected in a way that prevents "backending". See the following section for more information.

Instruction book, IQAN- XA2 19

 Voltage inputs
6 Installation

Connecting switches to the digital inputs

When connecting switches to the digital inputs DIN-I thru DIN-T, extra precautions should be
taken.

N OTICE
By sharing pins with the RET positions of the proportional outputs there is a possibility of
’backending’ the XA2 unit when using those pins as digital inputs. The internal circuitry has
power clamping diodes between RET pins and +BAT. This arrangement creates a risk of inad-
vertently supplying power to the unit by forward biasing the clamping diodes. There are two
methods to avoid this:
1 The switch could be powered by the same source as the unit’s +BAT.
This needs to be after any switch that would shut off power to the XA2.

EXAMPLE
Connect the positive and negative terminals of the switch to +BAT, position 28 and
DIN-I, position 16, respectively.

42 29
28 15
14 1

+BAT, pos. 28

DIN-I, pos. 16

Connecting a switch to DIN-I and +BAT.

2 The switch could be connected to DIN through a 1K ohm resistor to limit

the current source capability.

EXAMPLE
Connect the positive and negative terminals of the switch to supply and DIN-I
through a 1K resistor, to position 16, respectively.

42 29
28 15
14 1

Supply

DIN-I, pos. 16 1K ohm

+ -

Connecting a switch to DIN-I and supply thru a resistor.

Instruction book, IQAN- XA2 20

 Frequency inputs
6 Installation

Frequency inputs
Connecting sensors to the frequency inputs
Frequency inputs can operate in 2 modes. Speed which is frequency and position which is a
pulse count. For the frequency ranges and trigger levels, see Appendix A, on page 28.

Simple frequency sensor

The positive terminal of the frequency sensor is connected to the +VREF and the negative termi-
nal to the -VREF respectively. The sensor signal is
connected to the FIN position.
If the current consumption for the sensor exeeds the maximum load for the VREF, the sensor
could be connected to the +BAT/-BAT positions.

EXAMPLE
Connect the positive and negative terminals of the frequency sensor to +VREF,
position 12, and -VREF, position 13, respectively. Then connect the sensor signal
to FIN-A, position 37.

42 29
28 15
14 1

Frequency sensor
+VREF pos. 42
FIN-A pos. 24
-VREF pos. 29

Connecting of frequency sensor.

N OTICE
The negative terminal of the sensor must not be connected to the chassis.
Maximum load for VREF position, see Appendix A, on page 28.

Instruction book, IQAN- XA2 21

 Quadrature and directional frequency inputs
6 Installation

Quadrature and directional frequency inputs

Connecting sensors to the inputs
Quadrature sensors are phase dependent. These sensors have two 90 degree out of phase "square
wave" type signals for direction indication, and frequency.
Directional sensors are level dependent. These sensors have one "square wave" type signal for
speed or position and one signal that is high or low to indicate the direction.
Quadrature and directional inputs can operate in 2 modes. Speed which is frequency with direc-
tion and position which is a pulse count with direction. For the frequency ranges and trigger lev-
els, see Appendix A, on page 28.

Quadrature sensor
The positive terminal of the quadrature sensor is connected to the +VREF and the negative ter-
minal to the -VREF respectively. The sensor’s channel A is connected to DFIN-A+ and channel
B to DFIN-A- positions.

Directional frequency sensor

The positive terminal of the directional sensor is connected to the +VREF and the negative ter-
minal to the -VREF respectively. The sensor output is
connected to DFIN-A+ and the sensor direction signal to DFIN-A- position.

If the current consumption for the sensor exeeds the maximum load for the VREF, the sensor
could be connected to the +BAT/-BAT positions.

EXAMPLE
Connect the positive and negative terminals of the sensor to +VREF, position 42,
and -VREF, position 29, respectively. Then connect the sensor signals to DFIN-
A+, position 24 and DFIN-A-, position 25.

42 29
28 15
Quadrature or 14 1
Directional sensor +VREF pos. 42
DFIN-A- pos. 25
DFIN-A+ pos. 24

-VREF pos. 29

Connecting of quadrature or directional frequency sensor.

N OTICE
The negative terminal of the sensor must not be connected to the chassis.
Maximum load for VREF position, see Appendix A, on page 28.

Instruction book, IQAN- XA2 22

 Proportional outputs
6 Installation

Proportional outputs
The current /PWM outputs control proportional valves and devices. For the current range and
loads, see Appendix A, on page 28.

Frequency
To obtain the best performance from proportional valves the control produces a current mode
(closed loop) output signal or a PWM voltage (open loop) output signal. The type of output is
selectable in IQAN software. The units have an adjustable frequency which can be changed
using IQAN software.
The table below shows the XA2 frequency possibilities. Any frequency may be entered in your
application and is translated according to this table. The bold values are the actual frequencies in
Hz output by the XA2 for proportional valve control..
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
entered in appl. output by XA2 entered in appl. output by XA2

25 25 50-52 50

26 26 53-55 53

27 27 56-58 56

28 28 59-62 59

29 29 63-66 63

30 30 67-70 67

31 31 71-76 71

32 32 77-82 77

33 33 83-90 83

34-35 34 91-99 91

36 36 100-110 100

37 37 111-124 111

38-39 38 125-142 125

40-41 40 143-166 143

42 42 167-199 167

43-44 43 200-249 200

45-47 45 250-332 250

48-49 48 333+ 333

Instruction book, IQAN- XA2 23

 Connecting loads to proportional outputs
6 Installation

Connecting loads to proportional outputs

Connecting a load, e.g. one proportional valve section, to the current mode or PWM mode out-
puts is done by using the COUT/CRET paired positions.

EXAMPLE
Positive direction:
Connect the proportional valve to the COUT-A, position 2 and the
CRET-A+, position 16 respectively.
Negative direction:
Connect the proportional valve to the COUT-A, position 2 and the CRET-A- ,
position 30 respectively.

42 29
28 15
15 1

Directional Valve

COUT-A

CRET-A-
CRET-A+

Connecting a load to a proportional output.

N OTICE
DO NOT install diodes across coils for Current or PWM modes!

Instruction book, IQAN- XA2 24

 Digital outputs
6 Installation

Digital outputs
The digital outputs control relays and on/off valves.
For the maximum load per output see Appendix A, on page 28.

Connecting loads to digital outputs

Connecting of loads to the digital outputs such as on/off valves is done by using the DOUT-A
thru DOUT-F positions and chassis as ground.

Protection against voltage transients

A clamping diode must be placed between the digital output and ground, as close to the load as
possible. This protects the output against high voltage transients.
Use the diode: 1N5408 (3A/1000V).
Depending on the load, other clamping diodes might be used instead.

EXAMPLE
Connect the on/off valve to the digital output using the DOUT-A, position 8, and
the chassis as ground.
A clamping diode must be placed as close to the load as possible, see figure below.

DOUT-A

d1

42 29
28 15
14 1

DOUT-A, pos.21

Connecting a load to the digital output.

N OTICE
If the load is controlled in parallel with another system, the digital output must be
protected with a diode.

+BAT
d2

d1

42 29
28 15
14 1
DOUT-A, pos.21

Digital output protected with a diode.

Instruction book, IQAN- XA2 25

 Start-up procedures
7 Start-up

7 Start-up

Start-up procedures
This chapter contains instructions for action to be taken in connection with the initial start, for
example, setting values, calibrating and testing the system.

W ARNING
Risk of injury!
If the control system is not fitted properly, the machine could move uncontrollably. The
machine’s engine shall not be started before the control system is completely fitted and its sig-
nals are verified.

Starting the control system

Start the control system as follows:
• Prior to start, all modules and cables are to be fitted correctly.
• Check fuses, i.e. make sure that the supply voltage to the modules is equipped with the cor-
rect fuse.
• Make sure that connections for supply voltage and return lines are correct in the cable’s con-
ductor joint.
• Make sure that the ID-tag is connected properly.
• Make sure the emergency stop works.

The emergency stop should disconnect the supply voltage to all modules.

Dump valve +BAT

Emergency stop.

Alternatively, the emergency stop may also shut off the diesel engine or a dump valve, and with
that depressurize the hydraulic system.

Instruction book, IQAN- XA2 26

 Start-up procedures
7 Start-up

Prepare for system start

W ARNING
Make sure no one is in dangerous proximity to the vehicle to avoid
injuries when it starts.

Prepare for the initial system start as follows:

• The engine for the hydraulic system’s pump shall be in off position.
• Make sure that all connectors are properly connected.
• Turn on the control system.
• Make sure that voltage is being supplied to all modules, the green diode shall be illuminated
on all modules. Also make sure that master is in contact with all modules by reading the
master’s display. Error messages are displayed if the master is not in contact with one or
more of the modules.
• Make sure the emergency stop is functioning properly.

Start the system

Start the system as follows:
• Start the engine for the hydraulic system’s pump, assuming that the above mentioned inspec-
tions have been carried out and shown correct values.
• Calibrate and adjust input and output signals according to the instructions related to the mas-
ter menu system and check each and every output function carefully.
• In addition to these measures, the machine shall also meet the machine directives for the
country in question.

Instruction book, IQAN- XA2 27

 IQAN-XA2 Technical Overview
Appendix A

Appendix A

IQAN-XA2 Technical Overview

Absolute Maximum Ratingsa

Limit values
Parameter Unit Remark
min. typ. max.

Ambient temperature, TA – 40 +90 °C

Storage temperature – 40 +100

Maximum voltage supply on +BAT 34 V Reverse polarity protected

with 20A fuse.

Voltage on any pin with 34 V

respect to -BAT

Maximum current into -VREF 2 A

Maximum current sourced by all outputs 20 A

a.The “Absolute Maximum Ratings” table lists the maximum limits to which the device can be sub-
jected without damage. This doesn´t imply that the device will function at these extreme con-
ditions, only that, when these conditions are removed and the device operated within the
“Recommended Operating Conditions”, it will still be functional and its useful life won’t have been
shortened.

Environmental ratings
Parameter Remark

EMI
ISO 14982:1998, Radiated emission 30-1000 MHz
EN 55025:2003, Conducted emission 0.15-108 MHz, class 1
ISO 11452-2:1995, Radiated Susceptilbility 20-1000 MHz, 100V/m
ISO 11452-4:2001, Conducted Susceptibility 1-200 MHz, 150mA
ISO 7637-2:2004, Conducted transient susceptibility on power 1,2a,2b,3a,3b,4, 5
ISO 7637-3:1995, Conducted transient susceptibility on signal 80V
EN 61000-4-8:1993 100A/m

ESD
ISO 10605:2001, ESD 15KV, air,
8 KV contact
4 KV handling

Mechanical environment
IEC 60068-2-64:1993 Fh, Random vibration 0.4 g²/Hz, 15- 250 Hz, 10 hours
IEC 60068-2-29:1987 Eb, Bump 40g, 6 ms,1000 in each direction

Climate environment
IEC 60529:2001, Enclosure protection IP66: 100 l/min, 3min
DIN 40050 Part 9:1993, Enclosure protection IP6K9K: 1000kPa, +80°C, 30sec
IEC 60068-2-30:1985 Db, Damp heat cyclic 55°C, 6 cycles
IEC 60068-2-78:2001, Damp heat, steady state 40°C, 93% RH, 21 days
IEC 60068-2-14:1984 Nb, Change of temperature -40°C to 70°C, 100 cycles

Chemical environment
IEC 60068-2-52:1996 Kb, Salt mist 3 days

Instruction book, IQAN-XA2 28

 IQAN-XA2 Technical Overview
Appendix A

Recommended Operating Conditionsa

Limit values
Parameter Unit Remark
min. typ. max.

Ambient temperature, TA – 40 +70 °C

Voltage supply, VBAT 11 32 V

Total load on COUT/PWMOUT/DOUT 20 A

a.Recommended operating conditions are given for maximum and minimum conditions where nor-
mal performance is still available from the device. Once the normal operating conditions are exceed-
ed, the performance of the device may suffer.

System
TA = +25 °C (unless otherwise specified)

Limit values
Parameter Unit Remark
min. typ. max.

Start-up delay 250 ms Power to activated output

Dither frequency, DF 25 333 Hz

Sample rate local I/O 1000 Hz

CAN message response time 1 ms

Output voltage on VREF 4.9 5.0 5.1 V load < 40mA

Maximum load current on VREF 40 mA Vdrop < 25mV (0.5%)

VBAT =11V to 32V 100 Vdrop < 50mV (1%)
150 Vdrop < 100mV (2%)

Current supply outputs = off

VBAT =14V 95 mA no load on VREF
VBAT =28V 75

I/O
TA = +25 °C (unless otherwise specified)

Limit values
Parameter Unit Remark
min. typ. max.

VIN (Voltage input)

Signal range low 0 0.05 V

Signal range high 4.9 5.0 5.1 V

Input resistance 62 kΩ
Signal resolution 5 mV
Total unadjusted error -35 35 mV VREF as source <40mA
-100 100 External source
DIN (On/off input)
Input low 1.0 V

Input high 4.0 V

Input hysteresis a 1.0 V DIN-A to DIN-H

0.5 DIN-O to DIN-R

Input resistance 62 kΩ DIN-A to DIN-H

5.6 DIN-I to DIN-T

Instruction book, IQAN-XA2 29

 IQAN-XA2 Technical Overview
Appendix A

I/O
TA = +25 °C (unless otherwise specified)

Limit values
Parameter Unit Remark
min. typ. max.

DFIN (Directional Frequency input)

Input low 1.0 V

Input high 4.0 V

Input resistance 62 kΩ

Input frequency low 2 Hz normal response

(Speed mode) 20 fast response

Input frequency low 0 Hz

(Position mode)
Input frequency high 30.000 Hz
Step response time 250 ms
(Speed mode)

Step response time 1 ms CAN sample time

(Position mode)

Zero detection time 250 ms normal response

(Speed mode, start or stop <20 Hz) 50 fast response
FIN (Frequency input)

Input low 1.0 V

Input high 4.0 V

Input resistance 62 kΩ

Input frequency low 2 Hz normal response

(Speed mode) 20 fast response

Input frequency low 0 Hz

(Position mode)
Input frequency high 30.000 Hz

Step response time 500 ms

(Speed mode)
Step response time 1 ms CAN sample time
(Position mode)

Zero detection time 500 ms normal response

(Speed mode, start or stop <20 Hz) 50 fast response

COUT (closed-loop mode)

Signal range 100 2000 mA

Load 3.5 ohm

Pulse width low 63 us

Pulse width high T- s T=1/Dither freq. (ms)

0.5ms

Voltage drop (VBAT -VCOUT) V

load IL = 0.5A 0.2
0.8
load IL = 2A

Off-State output current: 1.8 mA

Short Circuit current limit 15 A

Linearity error 15 mA 100mA to 1500mA

Temperature error 15 mA TA= -40°C to 70°C

100mA to 1500mA
Power supply rejection mA RL=6 Ω −25 Ω
VBAT = 11... 18V 1
VBAT = 24... 32V 1

Load regulation mA
VBAT =14V, RL=4... 9 Ω 1 Load=1000mA
VBAT =28V, RL=22... 34 Ω 1 Load=500mA

Instruction book, IQAN-XA2 30

 IQAN-XA2 Technical Overview
Appendix A

I/O
TA = +25 °C (unless otherwise specified)

Limit values
Parameter Unit Remark
min. typ. max.

Dither frequency, DF 25 333 Hz

Resolution 0.1 mA Dependent on load, power

0.8 us supply and dither frequency.
PWMOUT (open-loop mode)

Signal range 0 95 % MR
Pulse width low 63 us

Pulse width high T- s

0.5ms 1-
T = -------
DF

Error limits min (open load) 50 mA Dependent on load, power

supply and dither frequency.
Error limits max (over load) 2000 mA Dependent on load, power
supply and dither frequency.
Voltage drop (VBAT -VPWMOUT) V
load IL = 0.5A 0.2
0.8
load IL = 2A

Off-State output current: 1.8 mA

Short Circuit current limit 6 A

Dither frequency, DF 25 333 Hz

Resolution 0.1 % MR

DOUT (on/off output)

Load current 2 A

Voltage drop (VBAT -VDOUT) V

load IL = 0.5A 0.2
0.8
load IL = 2A

Off-State output current: 10 uA DOUT-A to DOUT-F

1.8 mA DOUT-G to DOUT-L

Max load inductance: 200 mH @ 2A

1000 @ 1A
Short Circuit current limit 6 A

a.DIN-I to DIN-N and DIN-S to DIN-T have no hysteresis. Use standard TTL thresholds instead.

Instruction book, IQAN-XA2 31

 Error codes, messages and actions
Appendix B

Appendix B

Error codes, messages and actions

If one of the following error is detected, a message will be presented on the display together
with an error code on the module. In some cases, the module will turn off or at least shut down
the outputs, to increase safety.

Yellow/ red, status LED

Green, power on

The location of the LED indicators on the IQAN-XA2 module.

W ARNING
Don’t use the machine if an error message or error code is activated.
The following sections will present what measures to take for different error situations put into
appropriate context.

LED indicator showing different XA2 modes

Status Flash

Normal operation (yel.)

Error Error Primary Flash (red) Secondary Flash (yellow)

code Error category Error description

1:n See note a

2:n See note a

3:1 CAN error

3:2 Address error

4:1 Memory errorb

FE Fatal error

a. Error groups 1:n and 2:n are controlled by the master.

b. FRAM memory error.

Instruction book, IQAN-XA2 32

 Failure Modes
Appendix C

Appendix C

Failure Modes
The following tables contain information about the different possible failures that could occur
for each module subsystem. In most cases when an error is detected, a message will be
presented on the master display together with an error code on the module. In some cases, the
module will turn off or at least shut down the outputs, to increase safety.

Failure modes for VREF

Failure mode Effect

1 +VREF Open VIN out of range, will create a VIN error =>
VIN=Predefined error value.a

2 -VREF Open VIN out of range, will create a VIN error =>
VIN=Predefined error value.a

3 +VREF Short-circuit to -VREF VREF error => VIN out of range, will create a VIN
error => VIN=Predefined error value.a

4 +VREF Short-circuited to +BAT VREF error => VIN out of range, will create a VIN
error => VIN=Predefined error value.a

5 +VREF Short-circuited to -BAT VREF error => VIN out of range, will create a VIN
error => VIN=Predefined error value.a

6 -VREF Short-circuited to +BAT External fuse (if <7.5A) on +BAT blows.

7 -VREF Short-circuited to -BAT Not detected.

a. Measure is controlled by CAN master and application as a result from the CAN error
message. Turning outputs off is controlled by CAN master unit and therefore delayed
maximum 2 bus cycles.

Failure modes for CAN interface

Failure mode Effect

1 CAN-H to -BAT No CAN communication. All output turned off.

2 CAN-L to -BAT No CAN communication. All output turned off.

3 CAN-H to +BAT No CAN communication. All output turned off.

4 CAN-L to +BAT No CAN communication. All output turned off.

5 CAN-L open circuit No CAN communication. All output turned off.

6 CAN-H open circuit No CAN communication. All output turned off.

7 CAN-L to CAN-H No CAN communication. All output turned off.

8 CAN-termination failure, termina- No effect

tion on

9 CAN-termination failure, termina- Dependent on CAN size and number of CAN nodes.
tion off

Instruction book, IQAN-XA2 33

 Failure Modes
Appendix C

Failure modes for VIN

Failure mode Effect

1 VIN Open VIN out of range, will create a VIN error =>
VIN=Predefined error valuea

2 VIN Short-circuited to +BAT VIN out of range, will create a VIN error =>
VIN=Predefined error valuea

3 VIN Short-circuited to -BAT VIN out of range, will create a VIN error =>
VIN=Predefined error valuea

a. Measure is controlled by CAN master and application as a result from the CAN error
message. Turning outputs off is controlled by CAN master unit and therefore delayed
maximum 2 bus cycles.

Failure modes for DIN

Failure mode Effect

1 DIN Open No effect on module, not detected

2 DIN Short-circuited to +BAT No effect on module, not detected

3 DIN Short-circuited to -BAT No effect on module, not detected

Failure modes for FIN

Failure mode Effect

1 FIN Open No effect on module, not detected

2 FIN Short-circuit to +BAT No effect on module, not detected

3 FIN Short-circuit to -BAT No effect on module, not detected

Failure modes for DFIN

Failure mode Effect

1 DFIN Open No effect on module, not detected

2 DFIN Short-circuit to +BAT No effect on module, not detected

3 DFIN Short-circuit to -BAT No effect on module, not detected

Instruction book, IQAN-XA2 34

 Failure Modes
Appendix C

Failure modes in Current Mode

The table below presents failure modes and effects on I/O.

Failure mode Effecta

1 COUT Open COUT error, output turned off

2 RET (active) Open COUT error, output turned off

3 RET (passive) Open Not detected, will not influence function

4 COUT Short-circuit to RET COUT error, output turned offb

(active)

5 COUT Short-circuit to RET Not detected, will not influence function

(passive)

6 COUT Short-circuit to +BAT COUT error, output turned off

7 COUT Short-circuit to - BAT COUT error, output turned offb

8 RET (active) Short-circuit to COUT error, output turned offb

+BAT

9 RET (active) Short-circuit to COUT error, output turned off

- BAT

10 RET (passive) Short-circuit to Not detected, will not influence function

+BAT

11 RET (passive) Short-circuit to COUT error, output turned off

- BAT

12 COUT Short-circuit to 2:nd Not detected, will not influence function

COUT (passive)

13 COUT Short-circuit to 2:nd RET COUT error, output turned offb

(active)

14 COUT Short-circuit to 2:nd RET Not detected, will not influence function
(passive)

15 RET Short-circuit to 2:nd RET COUT error, output turned off

(active)

16 RET Short-circuit to 2:nd RET Not detected, will not influence function
(passive)

17 Insufficient Voltage COUT error, output turned off

a.Turning off outputs are controlled by CAN master and therefore delayed by maximum
2 bus cycles. If local error handling is enabled the output will turn off locally without
delay.
b.Turned off by integrated protection functions in IC.

Instruction book, IQAN-XA2 35

 Failure Modes
Appendix C

Failure modes in PWM mode

Table below presents failure modes and effects on I/O.

Failure mode Effecta

1 H-side Open PWMOUT error, output turned off

2 L-side (active) Open PWMOUT error, output turned off

3 L-side (passive) Open Not detected, will not influence function

4 H-side Short-circuit to L-side PWMOUT error, output turned offb

(active)

5 H-side Short-circuit to L-side Not detected, will not influence function

(passive)

6 H-side Short-circuit to +BAT PWMOUT error, output turned off

7 H-side Short-circuit to - BAT PWMOUT error, output turned offb

8 L-side (active) Short-circuit to PWMOUT error, output turned offb

+BAT

9 L-side (active) Short-circuit to Not detected, will not influence function

- BAT

10 L-side (passive) Short-circuit to Not detected, will not influence function

+BAT

11 L-side (passive) Short-circuit to Not detected, + and - direction activated without

- BAT movement as result.

12 H-side Short-circuit to 2:nd PWMOUT error, output turned offb

L-side (active)

13 H-side Short-circuit to 2:nd Not detected, will not influence function

L-side (passive)

14 L-side Short-circuit to 2:nd L-side Not detected, will not influence function
(active)

15 L-side Short-circuit to 2:nd L-side Not detected, will not influence function
(passive)

16 Insufficient Voltage Not detected, lower max speed limit on function

a. Turning off outputs are controlled by CAN master and therefore delayed by maximum
2 bus cycles. If local error handling is enabled the output will turn off locally without
delay.
b. Turned off by integrated protection functions in IC.

Instruction book, IQAN-XA2 36

 Dimensioning of the IQAN-XA2 module
Appendix D

Appendix D

Dimensioning of the IQAN-XA2 module

Unit = mm
60

164
142

75
52
7 mm/M6(x2)

67
32

Instruction book, IQAN-XA2 37