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freely programmable
controllers
for
vehicles and machines
with CAN-Bus
Description
Veh icle B attery

The freely programmable controller ESX works

ON-Sig nal Voltage Su pply
independently as a measuring, driving or controlling
(Interru pt inp ut)
device for sensor-actuator management and is
capable of executing a number of separate or
La tc h-u p/ Syste m
Switc h-Off
(softwa re )
Sup erv isor
incl. Wa tc hdog
related tasks in real time.
Safety
Relay
The ESX was developed especially for use under
harsh conditions and extreme temperatures,
functioning from -40 to +85°C in vehicles and
4 Digita l-/P WM
Outputs 2.5A machines.
altern ative
20 % U ...8 0% U
B B

All inputs and outputs are protected against short

16
Digita l inputs
or RP M/ Micro con trolle r
3 Digita l-/P WM-
Outputs 4A
altern ative
circuit to ground or to voltage overload and have a
Frequ ency
inpu ts
C16 7
+
20 % U ...8 0% U
B B

built-in diagnostic capability.

Peripherals

5 Digita l-/P WM Outputs 4A

with c urretn m eas ure ment
altern ative
20 % U ...8 0% U
B B
Proportional valves can be driven without expensi-
8 Ana lo g-
inpu ts ve amplifier or controller cards. Either a PWM
(0..8,5V or
4..20mA) 8,5V stabilized
Voltage Outpu t
(pulse width modulated) output with internal current
detection or a special output for proportional valves
CAN-Bus
with integrated circuitry may be used.
interfac e
(CAN 2 .0 B)

A robust cast aluminum housing (protection grade

IP65, optionally IP67) with a GORE-TEX breathing
Flash o r EPROM Serial interfa ce
to 512 kBY TE RS23 2

RAM
to 256 kBY TE
filter offers high immunity to electromagnetic
2 Inte rfac e

EEPROM
for Bab y Boards
(2x 6 add itional
disturbances and protects against mechanical
to 16 kBYTE I/O’s )
stressing.
Applications in mobile Level 2 of IEC 61508 standards Expansion boards
commercial machines respectively. The electronic controller ESX may
- controller for the complete All input and output channels of the be expanded using the two
hydraulics of mobile commercial control systems are diagnosable, standard internal interfaces and
machines (farm and construction meaning that short circuits or open various modules to provide up to 12
machines, community service circuits can be detected by the additional input or output ports. The
and special purpose vehicles) software. In addition, a continuous type of port is not restricted. These
- electronic/hydraulic steering software diagnosis of the internal modules may also include further
systems (steering-by-wire) hardware is performed. design features (e.g. real time
- hydrostatic vehicle drive controller A safety relay provides a second clock) making the ESX ideally
(drive-by-wire) with anti-lock means of switching off the digital suited for quick adaptation to
braking system (ABS) and anti- and PWM outputs. customer demands.
slip regulation (ASR)
- motor management (rotational
speed control) Networking with CAN-Bus Configuration, calibration and
- automatic gear shift controller functions parameter setting
- controller for inclination and fluid Data exchange with other intelligent Characteristics, calibration data and
level units is made possible with the RS critical parameters for sensor-
232 or the CAN-Bus (complies with actuator management as well as
CAN specification 2.0 B) interfaces. controller configuration can all be
Reliable TÜV certified safety Both standard and extended format stored in a non-volatile EEPROM.
All standards required for CE are supported. The CAN-Bus is Using an editor software, this data
conformity are met with the ESX. thereby capable of connecting a may be accessed on the CAN bus
Over and above these, the varying number of controllers into a or on the RS 232 interface.
branch specific requirements and network. Modules with further CAN
standards of the automotive, interfaces may be built into the ESX, Comprehensive external and
agricultural or construction allowing it to take on a bridge internal error diagnostics
industries are also met. function, and allowing multiple inde- STW offers a line of software tools
pendent busses to communicate for reading the error buffer, system
For safety relevant applications freely. The transceiver chip diagnostics, visualization and
(e.g. waste disposal vehicles, PCA82C251 (Philips) which acts as maintenance or repair services.
hoists) the ESX has been the physical connection (physical Communication is established
developed to perform to ”An- layer) to the bus wires has ISO using the standard CAN-Bus or the
forderungsklasse 4” (Requirement 11898 - 24 V compliance (short RS 232 interface.
Class 4) of the DIN V VDE 0801 circuit protection in 24 V systems)
and DIN V 19250, to Category 3 of and can attain transfer rates of up
EN 954-1 and to Safety Integrity to 1Mbit/s.
Programming,
speedy (IEC 1131-3)
or special (”C”)

The software can be programmed in

the high level language ”C”, or using an
IEC 1131-3 graphical user interface
with the following choice of languages:

Function Block Diagram (FBD)

Ladder Diagram (LD)
Instruction List (IL)
Structured Text (ST)
Sequential Function Chart (SFC)

The function library with ready-to-use

function components provides the
possibility to quickly and easily program
application software. IEC 1131-3 may
even be used without previous
knowledge of any high level languages.
For special, more complex
applications, the programmer is
encouraged to program at a more fun-
damental system level using ”C” and
our BIOS software.
The software may be downloaded into
the flash memory using both CAN or
RS 232 interfaces. STW has an exten-
sive library available with programming
and configuration functions as well as
debug and diagnostic tools and upon
request will develop a complete
software for customer applications.

Simulation
of all inputs and outputs

To facilitate the programming and

testing of ESX software, STW offers a
test box in 19” rack format which
provides monitoring circuits and
indicators for all inputs and outputs as
well as a connector for the ESX. These
may be switched as desired or
connected to simulators for sensors or
actuators. The test box also includes
an integrated termination for the CAN
network as required. The voltage
supply has separate fuses for the
processor and for the driver
electronics. Special boards for
monitoring extension features
(customer specific designs) are
available.
CAN-Bus theory unlimited) depends on the type of frames with 11-bit identifiers.
chip used (transceiver, physical layer).
The ”Controller Area Network” (CAN), With commonly used chips, 32, 64 or up Through content oriented identifiers in
originally developed by Bosch for use in to 110 (with restrictions up to 128) nodes a message, the system achieves a high
the automotive industry, has established per network are possible (further degree of configuration flexibility and
itself as the standard bus system for mo- extensions require repeaters or bridges). allows a simple extension of the network
bile applications (international norm ISO to include further devices. There are a
11898). Components for CAN-based CAN is a ”multimaster system” with line number of higher protocols such as LBS
systems are available in large quantities topology and real time capability. Unique (Landwirtschaftliches Bus System),
at very reasonable prices due to their wide ”identifiers” contain information not directly SAE J 1939, OSEK, CAL (CAN
spread use. related to the address of a participant, but Application Layer, the basis for the
to the contents of a message (i.e. communications profile CANopen),
CAN-Bus systems exhibit high transfer temperature, rotational or linear speeds). DeviceNet and others which have been
rates (CAN low-speed up to 125 Kbit/s, All participants check out the identifier normed or standardized. These are
CAN high-speed to 1Mbit/s) and high data being transmitted and decide if the type available on the so called ”application
transmission reliability. A number of diffe- of message is relevant to themselves layer”.
rent capabilities (CRC, frame checking, (acceptance filtering). In this way all
acknowledgment, bit monitoring and bit messages can be received from many or The various semiconductor
stuffing) enable the CAN protocol to all of the participants simultaneously. The manufacturers offer CAN controllers with
recognize errors in transmitted data unique identifier also determines the differing functionalities: one common
caused for example by electromagnetic priority of the message relating to bus type has one data buffer for transmitting
disturbances, and to correct them access. In case a number of participants and one for receiving - here the receive
(transmission stop with error flag and try to access the bus simultaneously, the buffer is followed by a shadow buffer and
automatic repetition of the message). higher priority message is guaranteed to the message filtering function utilizes
Since the length of the data packages are gain bus access (prevention of bus the associated microprocessor (”Basic-
limited to max. 8 bytes of information per accessing conflicts through bitwise CAN”). Another type has a number of
message, correction takes place with very arbitration). For these reasons it is buffers for managing and filtering multi-
little loss of time. important to incorporate functional ple messages simultaneously (”Full
procedures and safety requirements into CAN”, reduces workload on CPU). In
A pair of wires suffices as transmission the process of defining identifiers. Stan- addition there are so called SLIO (serial
medium (ease of wiring). The length of the dard format (11-bit identifier) and exten- linked I/O) devices, which require no
network can be up to 40 m with transfer ded format (29-bit identifier) are two diffe- further microprocessor but function only
rates of 1Mbit/s. Networks without rent message formats which can coexist as CAN slave modules (for I/O
repeaters up to 1000 m in length are on the same physical CAN-Bus. The extension).
practical with rates of 80 Kbit/s or less. specification CAN 2.0 B supports both
The number of participants per network (in formats, while CAN 2.0 A only allows

add itional
CAN-Bus
participants
Bridge
Term inal Joystick PC
e.g. E SX

Controller GPS/DGPS
Job processor I/O Actua tors
Sensor M odem
M odules
(ESX/EST)

CAN-Bus com patible Sen so rs and Actu ators

Sensors Sensors Sensors

Actua tors Actua tors Actua tors
• ESX - a rugged standard controller proven in mobile applications with sensor-actuator management
through integrated measurement, control and driver devices offer real time data processing of multiple
independent or linked tasks.
• Freely programmable (in high level language ”C” or using IEC 1131-3 graphical interface)
• adequate measures for EMC and a robust housing for all automobile environments
• an ingenious grounding scheme provides separate analog ground for sensors
• Internal diagnostics, protection against voltage overload and protection against short circuiting to ground
or to supply voltage for all inputs and outputs
• Safety relay as alternative switch off
• TÜV certified to ”Anforderungsklasse 4” for safety relevant applications, also European Category 3 or
Safety Integrity Level 2
• Direct driving of proportional valves saves expensive driver and/or controller boards

Technical Data ESX

Processor system Siemens C167, 16 bit, fCPU=20 MHz,

Flash to 512 Kbytes, RAM to 256 Kbytes,
EEPROM to 16 Kbytes
CAN-Bus interface Full CAN, CAN 2.0 B (29-bit identifier),
low or high speed to 1Mbit/s
RS 232 C interface programmable baud rate (max. 19200 baud)
Digital or RPM inputs 16, high/low active (software configurable),
frequency to 6.5 kHz, short circuit protected
Analog inputs 8, 4...20mA or 0...8.5 V (software configurable), 10-bit,
fCUTOFF = 1 kHz, short circuit protected
PWM / Digital outputs 3 x 4 A, high side switch, 0...100%, short circuit protected
4 x 2.5 A, high side switch, 0...100%, short circuit protected
PWM / Digital outputs with 5 x 4 A, high side switch, 0...100%,
current measurement clock frequency adjustable from 5...250Hz,
(proportional valve drivers) short circuit protected
alternatively: Outputs for driving 12, (20%... 80% of supply voltage)
Danfoss proportional valves (PVG)
Constant voltage output 1 x 8.5V, stabilized voltage supply, short circuit protected
Additional modules internal interface for 2 modules (also customer specific)
with up to 6 inputs or outputs each or internal functions;
12 pins on the connector are free for specific applications
Supply voltage 12 V (9...16V) DC, 24 V (10...32V) DC
operates on vehicle power supply
Current requirements approx. 0.5 A without load, total current up to 30 A
Stand-by < 1 mA
Connector 68 pin connector, automotive standard, with latch
Chassis IP 65 (opt. IP 67), cast aluminum, GORE-TEX Ò breathing
filter for pressure equalization and high moisture protection
EMC, environmental requirements certified according to automotive, agricultural and
construction industry standards; C conformity
Operating temperature -40 °C ... +85 °C (chassis)
Weight approx. 2 kg
Size 170 mm x 195 mm x 72 mm ( 6.69” x 7.68” x 2.83”)

Am Bärenwald 6, D-87600 Kaufbeuren

Phone ++49(0)8341/9505-0
Fax ++49(0)8341/9505-55
Sensor-Technik Wiedemann GmbH e-mail [email protected] Subjucts to change without notice
Steuer- und Regelelektronik Internet http://www.senor-technik.de MS 02/01