Instruction Book Iqan-Xa2: Publ No HY17-8385-IB/UK Edition 0505

Instruction book
IQAN-XA2
Publ no HY17-8385-IB/UK
Edition 0505
Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
General safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
IQAN-XA2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
System Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Mounting the module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
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
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Start-up procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Error codes, messages and actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Appendix C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Failure Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Appendix D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Dimensioning of the IQAN-XA2 module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Instruction book, IQAN-XA2
II
Introduction
Introduction
These instructions are to be used as a reference tool for the vehicle manufacturers
design, production, and service personnel.
The user of these instructions should have basic knowledge in the handling of electronic equipment.
ATTENTIO N
Sections regarding safety, marked with the IQman symbol shown in the left margin,
must be read and understood by everyone using the system, carrying out service work
or making changes to hardware/software.
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
General safety regulations

2
Precautions
Precautions

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.
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.
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.
Electronic control systems in an inappropriate installation and in combination with
strong electromagnetic interference fields can, in extreme cases, cause an unintentional change of speed of the output function.
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 positioned 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
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 operator. The machine must be built if possible, so that the supply
voltage to the control system's electrical units is disconnected when the operator
leaves the operators station.
Safety during installation

Incorrectly positioned or mounted cabling can be influenced by radio signals which
can interfere with the functions of the system.
Safety during start-up

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.

2
Precautions
Safety during maintenance and fault diagnosis

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.
IQAN-XA2
3
Product description
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 flexibility may be configured in other ways. The two input pins VIN-E and VING 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.
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 positions, 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.
General
4
Safety
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 modules 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 software.
The test includes CAN- bus verification, memory integrity check and an internal signal verification. If any error is detected appropriate precautions will be activated.
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 33
A small recommendation...
You can use the internal diagnostics in the master to get more information about the
XA2 module. The following values are supervised:
Internal temperature [C]
Power supply [V]
Reference voltage [V]
CAN address voltage [V]
Mounting the module

5
Mounting
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.

OBSERVE
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.
10
Mounting the module

6
Installation
Installation
Connector C1
Connector kit
Parker no. 5031063
Housing
Amp no. 1-963226-1
42
29
28
15
14
Casing
Amp no. 0-965643-1
Plane sealing, 42 p
Amp no. 963225-1
*= The connector contains two types

of terminals; MT (Micro Timer) and
JPT (Junior Power Timer).
Pin types*
Amp no. 963711-2 (MT)
Amp no. 929938-1 (JPT)
Cables
0,75-1,0 mm (MT)
1,5-2,5 mm (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

references
Blue handle, pos. A

use blue extraction tool
Red handle, pos. B

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 1
PORT 0
PORT 2
Logical
Symbol
Pin
No.
(I)nput or
(O)utput
Function description
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
High side to address tag. Sourcing +5V.
ADDR-L
14
Low side to address tag. Return (0V).
CAN-H
26
27
CAN high voltage bus line, will be HIGH in dominant state.
CAN-L
40
41
CAN low voltage bus line, will be LOW in dominant state.
11
Mounting the module

6
Logical
Symbol
Pin
No.
(I)nput or
(O)utput
Function description
and/or Signal name(s)
P0 is an 8 pin input port with alternate functions on four inputs.
P0
VIN
P0.0
P0.1
P0.2
P0.3
P0.4
P0.5
P0.6
P0.7
Installation
10
11
12
13
24
25
38
39
I
I
I
I
I
I
I
I
DIN
DFIN
FIN
VIN-A
DIN-A
VIN-B
DIN-B
VIN-C
DIN-C
VIN-D
DIN-D
VIN-E
DIN-E
DFIN-A+
FIN-A
VIN-F
DIN-F
DFIN-AVIN-G
DIN-G
DFIN-B+
FIN-B
VIN-H
DIN-H
DFIN-BNote: DIN-A to DIN-H have high impedance inputs (62K Ohm).
P1 is an 6 pin output port.
P1
DOUT
P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
8
9
22
23
36
37
O
O
O
O
O
O
DOUT-A
DOUT-B
DOUT-C
DOUT-D
DOUT-E
DOUT-F
P2 is an 18 pin input/output port with alternative functions.
P2
COUT
PWMOUT
DIN
DOUT
P2.0
P2.1
P2.2
2
16
30
O
O/I
O/I
COUT-A
CRET-A+
CRET-A-
PWMOUT-A
PWMRET-A+
PWMRET-A-
DIN-I
DIN-J
DOUT-G
-
P2.3
P2.4
P2.5
3
17
31
O
O/I
O/I
COUT-B
CRET-B+
CRET-B-
PWMOUT-B
PWMRET-B+
PWMRET-B-
DIN-K
DIN-L
DOUT-H
-
P2.6
P2.7
P2.8
4
18
32
O
O/I
O/I
COUT-C
CRET-C+
CRET-C-
PWMOUT-C
PWMRET-C+
PWMRET-C-
DIN-M
DIN-N
DOUT-I
-
P2.9
P2.10
P2.11
5
19
33
O
O/I
O/I
COUT-D
CRET-D+
CRET-D-
PWMOUT-D
PWMRET-D+
PWMRET-D-
DIN-O
DIN-P
DOUT-J
-
P2.12
P2.13
P2.14
6
20
34
O
O/I
O/I
COUT-E
CRET-E+
CRET-E-
PWMOUT-E
PWMRET-E+
PWMRET-E-
DIN-Q
DIN-R
DOUT-K
-
P2.15
P2.16
P2.17
7
21
35
O
O/I
O/I
COUT-E
CRET-E+
CRET-E-
PWMOUT-E
PWMRET-E+
PWMRET-E-
DIN-S
DIN-T
DOUT-L
-
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.
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. Connect 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
14
20 A
+BAT, pos. 28
Emergency Stop
-BAT, pos.15
* Symbol for disconnecting
switch for battery, ignition
lock and other fuses.
Connecting the emergency stop and voltage supply.

OBSERVE
Do not use the chassis as the negative terminal.
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.
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 different 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 XA2A0, 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
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 appropriate 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 IDTag denoted with a "T".
OBSERVE
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.
15
Reference voltage, VREF

6
Installation
Reference voltage, VREF

The XA2 module is internally equipped with a voltage regulator to generate the reference voltage VREF. The standard reference voltage will feed different kinds of sensors and potentiometers.
+VREF, pos 42
-VREF, pos 29
VREF positions.
OBSERVE
Maximum load for the VREF is different according to 12/24 Vdc power
supply, see Appendix A, on page 28.
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 interruptions the active signal range be within 0.5-4.5 Vdc.
[V]
5
Error detection range

Active signal range
Error detection range
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, position 42, and -VREF, position 29, respectively. Then connect the sensor signal to
VIN-A, position 10.
42
29
28
15
14
+VREF, pos. 42
VIN-A, pos. 10
Position Sensor
-VREF, pos. 29
Connecting VREF and sensor signal VIN-A.

OBSERVE
The negative terminal of the sensor must not be connected to the chassis.
Maximum load for VREF position: see Appendix A, on page 28.
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 connected between VIN-A, position 10 and +VREF, position 42.
VREF+
4,7k
Pull up
VIN
42
29
28
15
14
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 K.
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 consumption 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
+VREF, pos. 42
VIN-A/DIN-A, pos. 10
Connecting a switch to VIN-A/DIN-A and VREF.

OBSERVE
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 units
+BAT, position 28 and VIN-A/DIN-A, position 10, respectively.
42
29
28
15
14
+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
characteristics. 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.
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.
OBSERVE
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 inadvertently 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 units +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
+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
Supply
DIN-I, pos. 16
1K ohm
Connecting a switch to DIN-I and supply thru a resistor.
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 terminal 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
Frequency sensor
+VREF pos. 42
FIN-A pos. 24
-VREF pos. 29
Connecting of frequency sensor.

OBSERVE
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 direction and position which is a pulse count with direction. For the frequency
ranges and trigger levels, see Appendix A, on page 28.
Quadrature sensor
The positive terminal of the quadrature sensor is connected to the +VREF and the
negative terminal to the -VREF respectively. The sensors 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 terminal 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 DFINA+, position 24 and DFIN-A-, position 25.
Quadrature or
Directional sensor
42
29
28
15
14
+VREF pos. 42
DFIN-A- pos. 25
DFIN-A+ pos. 24
-VREF pos. 29
Connecting of quadrature or directional frequency sensor.

OBSERVE
22
6
Installation
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)
entered in appl.
Frequency (Hz)
output by MDL
Frequency (Hz)
entered in appl.
Frequency (Hz)
output by MDL
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
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 outputs 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
Directional Valve
COUT-A
CRET-ACRET-A+
Connecting a load to a proportional output.

OBSERVE
DO NOT install diodes across coils for Current or PWM modes!
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
DOUT-A, pos.21
Connecting a load to the digital output.

OBSERVE
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
DOUT-A, pos.21
Digital output protected with a diode.
25
Start-up procedures
7
Start-up
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.
OBSERVE
Risk of injury!
If the control system is not fitted properly, the machine could move uncontrollably.
The machines engine shall not be started before the control system is completely fitted and its signals 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 correct fuse.
Make sure that connections for supply voltage and return lines are correct in the
cables conductor 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.
26
Start-up procedures
7
Start-up
Prepare for system start

OBSERVE
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 systems 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 masters 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 systems pump, assuming that the above mentioned inspections have been carried out and shown correct values.
Calibrate and adjust input and output signals according to the instructions related
to the master 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.
27
Appendix A
Appendix A
IQAN-XA2 Technical Overview
Absolute Maximum Ratingsa
Limit values
Parameter
Unit
min.
Ambient temperature, TA
Storage temperature
typ.
Remark
max.
40
40
+90
+100
34
34
Maximum current into -VREF
Maximum current sourced by all outputs
20
Maximum voltage supply on +BAT
Reverse polarity
protected with 20A
fuse.
Voltage on any pin with

respect to -BAT
a.The Absolute Maximum Ratings table lists the maximum limits to which the device
can be subjected without damage. This doesnt imply that the device will function
at these extreme conditions, 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 wont have been shortened.
Environmental ratings
Limit values
Parameter
Unit
min.
EMI
ISO 14982:1998
EN 55025:2003
ISO 11452-2:1995
ISO 11452-4:2001
ISO 7637-3:1995
ISO 7637-2:1990
EN 61000-4-8:1993
typ.
Remark
max.
100
150
80
MHz
MHz
V/m
mA
V
100
A/m
15
8
4
kV
air
contact
handling
Mechanical environment
IEC 68-2-64:1993 Fh
IEC 68-2-29:1987 Eb
0.4
40
g2/Hz
g
15- 250 Hz, 10 hours

6 ms
Climate environment
IEC 68-2-18:2000 Rb2
IEC 68-2-30:1985 Db
IEC 68-2-3:1969 Ca
IEC 68-2-2:1993-01 Bb
IEC 68-2-1:1993-02 Ab
IEC 68-2-14:1984 Nb
3
6
10
72
16
10 x 6
min
cycles
days
hour
hour
hour
30kPa, 12.5 l/min

+55C, 95% RH
44C, 93% RH
70C
-40C
-40C to 70C
Chemical environment
IEC 68-2-52:1996 Kb
72
hour
ESD
ISO 10605:2001
30-1000 MHz
0.15-30 MHz
20-1000 MHz
1-200 MHz
1a,2,3a,3b,4,5
28
Appendix A
Recommended Operating Conditionsa

Limit values
Parameter
Unit
min.
typ.
Ambient temperature, TA
40
+70
Voltage supply, VBAT
11
32
20
Total load on COUT/PWMOUT/DOUT
Remark
max.
a.Recommended operating conditions are given for maximum and minimum conditions
where normal performance is still available from the device. Once the normal operating
conditions are exceeded, the performance of the device may suffer.
System
TA = +25 C (unless otherwise specified)
Limit values
Parameter
Unit
min.
Start-up delay
Dither frequency, DF
typ.
250
25
ms
333
1000
Hz
CAN message response time
ms
4.9
5.0
Maximum load current on VREF

VBAT =11V to 32V
Current supply
VBAT =14V
VBAT =28V
95
75
Power to activated
output
Hz
Sample rate local I/O
Output voltage on VREF
Remark
max.
5.1
load < 40mA
40
100
150
mA
Vdrop < 25mV (0.5%)

Vdrop < 50mV (1%)
Vdrop < 100mV (2%)
mA
outputs = off
no load on VREF
29
Appendix A
I/O
Limit values
Parameter
Unit
min.
typ.
Remark
max.
VIN (Voltage input)

Signal range low
Signal range high
4.9
0.05
5.0
5.1
Input resistance
62
Signal resolution
mV
Total unadjusted error
-35
-100
35
100
mV
1.0
VREF as source <40mA

External source
DIN (On/off input)

Input low
Input high
4.0
Trigg level, high level (1)
3.0
1.6
3.0
1.6
DIN-A to DIN-H
DIN-I to DIN-N
DIN-O to DIN-R
DIN-S to DIN-T
Trigg level, low level (0)
2.5
1.2
2.5
1.2
DIN-A to DIN-H
DIN-I to DIN-N
DIN-O to DIN-R
DIN-S to DIN-T
Input resistance
5.6
62
DIN-A to DIN-L
DIN-M to DIN-T
DFIN (Directional Frequency input)

Input low
Input high
1.0
4.0
Input resistance
V
V
62
Input frequency low

(Speed mode)
2
20
Hz
Input frequency low

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

(Speed mode)
Step response time
(Position mode)
Zero detection time
(Speed mode, start or stop <20 Hz)
250
1
250
50
normal response
fast response
Hz
ms
ms
CAN sample time
ms
normal response
fast response
30
Appendix A
I/O
Limit values
Parameter
Unit
min.
typ.
Remark
max.
FIN (Frequency input)

Input low
Input high
1.0
4.0
Input resistance
V
V
62
Input frequency low

(Speed mode)
2
20
Hz
Input frequency low

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

(Speed mode)
Step response time
(Position mode)
500
Hz
ms
Zero detection time

(Speed mode, start or stop <20 Hz)
normal response
fast response
500
50
ms
CAN sample time
ms
normal response
fast response
COUT (closed-loop mode)

Signal range
60
Load
3.5
Pulse width low
63
2000
W
us
Pulse width high
T0.5ms
Voltage drop (VBAT -VCOUT)

load IL = 0.5A
load IL = 2A
mA
T=1/Dither freq. (ms)
V
0.2
0.8
Off-State output current:
1.8
Short Circuit current limit
15
mA
A
Linearity error
15
mA
100mA to 1500mA
Temperature error
15
mA
TA= -40C to 70C

100mA to 1500mA
mA
RL=6 25
Power supply rejection

VBAT= 11... 18V
VBAT= 24... 32V
1
1
Load regulation
VBAT=14V, RL=4... 9
VBAT=28V, RL=22... 34
1
1
Resolution
mA
25
Load=1000mA
Load=500mA
333
0.1
0.8
Hz
mA
us
Dependent on load,
power supply and dither
frequency.
31
Appendix A
I/O
Limit values
Parameter
Unit
min.
typ.
Remark
max.
PWMOUT (open-loop mode)

Signal range
Pulse width low
63
95
%
MR
us
Pulse width high
T0.5ms
s
1
T = -------DF
Error limits min (open load)
50
mA
Dependent on load,
frequency.
Error limits max (over load)
2000
mA
Dependent on load,
frequency.
Voltage drop (VBAT -VPWMOUT)

load IL = 0.5A
load IL = 2A
0.2
0.8
1.8

Resolution
6
25
mA
A
333
0.1
Hz
%
MR
DOUT (on/off output)

Load current
Voltage drop (VBAT -VDOUT)
load IL = 0.5A
load IL = 2A
A
V
0.2
0.8
10
1.8
uA
mA
DOUT-A to DOUT-F
DOUT-G to DOUT-L
Max load inductance:
200
1000
mH
@ 2A
@ 1A
32
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.

OBSERVE
Dont 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
code
Error
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
Primary Flash (red)

Error category
Secondary Flash (yellow)

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

b. FRAM memory error.
33
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
1
+VREF Open
Effect
VIN out of range, will create a VIN error =>
VIN=Predefined error value.a
-VREF Open

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

error => VIN=Predefined error value.a
+VREF Short-circuited to +BAT

+VREF Short-circuited to -BAT

-VREF Short-circuited to +BAT
External fuse (if <7.5A) on +BAT blows.
-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
CAN-H to -BAT
No CAN communication. All output turned off.
CAN-L to -BAT
CAN-H to +BAT
CAN-L to +BAT
CAN-L open circuit
CAN-H open circuit
CAN-L to CAN-H
CAN-termination failure, termination on
No effect
CAN-termination failure, termination off
Dependent on CAN size and number of CAN nodes.
34
Failure Modes
Appendix C
Failure modes for VIN

Failure mode
1
VIN Open
Effect
VIN=Predefined error valuea
VIN Short-circuited to +BAT

VIN Short-circuited to -BAT

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
DIN Open
No effect on module, not detected
DIN Short-circuited to +BAT
DIN Short-circuited to -BAT
Failure modes for FIN

Failure mode
Effect
FIN Open
FIN Short-circuit to +BAT
FIN Short-circuit to -BAT
Failure modes for DFIN

Failure mode
Effect
DFIN Open
DFIN Short-circuit to +BAT
DFIN Short-circuit to -BAT
35
Failure Modes
Appendix C
Failure modes in Current Mode

The table below presents failure modes and effects on I/O.
Failure mode
Effecta
COUT Open
COUT error, output turned off
RET (active) Open
RET (passive) Open
Not detected, will not influence function
COUT Short-circuit to RET

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

(passive)
COUT Short-circuit to +BAT
COUT Short-circuit to - BAT
RET (active) Short-circuit to

+BAT
RET (active) Short-circuit to

- BAT
10
RET (passive) Short-circuit to

+BAT
11
RET (passive) Short-circuit to

- BAT
12
COUT Short-circuit to 2:nd

COUT (passive)
13
COUT Short-circuit to 2:nd RET

(active)
14
COUT Short-circuit to 2:nd RET

(passive)
15
RET Short-circuit to 2:nd RET

(active)
16
RET Short-circuit to 2:nd RET

(passive)
17
Insufficient Voltage
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.
36
Failure Modes
Appendix C
Failure modes in PWM mode

Table below presents failure modes and effects on I/O.
Failure mode
Effecta
H-side Open
PWMOUT error, output turned off
L-side (active) Open
L-side (passive) Open
H-side Short-circuit to L-side

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

(passive)
H-side Short-circuit to +BAT
H-side Short-circuit to - BAT
L-side (active) Short-circuit to

+BAT
L-side (active) Short-circuit to

- BAT
10
L-side (passive) Short-circuit to

+BAT
11
L-side (passive) Short-circuit to

- BAT
Not detected, + and - direction activated without

movement as result.
12
H-side Short-circuit to 2:nd

L-side (active)
13
H-side Short-circuit to 2:nd

L-side (passive)
14
L-side Short-circuit to 2:nd L-side

(active)
15
L-side Short-circuit to 2:nd L-side

(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.
37
Dimensioning of the IQAN-XA2 module

Appendix D
Appendix D
67
32
7 mm/M6(x2)
52
75
142
164
60
Unit = mm
Dimensioning of the IQAN-XA2 module
38

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Instruction book

Instruction book, IQAN-XA2

Instruction book, IQAN- XA2

General safety regulations

General safety regulations

Safety during installation

Safety during start-up

Instruction book, IQAN- XA2

General safety regulations

Safety during maintenance and fault diagnosis

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

The IQAN-XA2 module.

Instruction book, IQAN- XA2

CAN related functions

Instruction book, IQAN- XA2

Input/ output Protection

Instruction book, IQAN- XA2

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

Instruction book, IQAN- XA2

Mounting the module

Mounting 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.

Assembling of the ID-Tag

Assembling of the Id-Tag.

Instruction book, IQAN- XA2

Mounting the module

Parker no. 5031063

Amp no. 1-963226-1

Amp no. 0-965643-1

Amp no. 963225-1

*= The connector contains two types

Amp no. 963711-2 (MT)

Amp no. 929938-1 (JPT)

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

IQAN tool kit

Parker no. 5031061

Connector pin assignments

Power supply, positive.

Power supply, negative ground

Voltage reference for external sensors. Sourcing +5V.

Voltage reference for external sensors. Return (0V).

High side to address tag. Sourcing +5V.

Low side to address tag. Return (0V).

CAN high voltage bus line, will be HIGH in dominant state.

CAN low voltage bus line, will be LOW in dominant state.

Instruction book, IQAN- XA2

Mounting the module

Instruction book, IQAN- XA2