CrossFire™ MX1B - maximatecc support
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1. Digital Input Type 3 Functional Group ID Interface Digital Input Types 1 and 2 have a software selectable voltage range and a 1 MQ pull down resistor All inputs are diode clamp protected against over and under voltage Electrical Characteristics for Digital Inputs Signal Name Parameter Comment Min D Each port has a software Digital Input Type 1 Ag 5 32 selectable range Each port has a software SC 5 32 selectable range Digital Input Type 2 Input Voltage or V A EN Vba pa Voltage exceeds Vuen Digital Input Type 3 ol fs v 10 kQ pull up to 5 V Input Impedance Types 1 and 2 IESSE 1 vo punon Digital Input Type 3 SE ro Iw pull up 14 User Manual and Reference Handbook CrossFire MX1B CANopen slave Digital ON OFF Outputs There are two types of Digital ON OFF Outputs both of which can drive currents up to 3 0 Amps at 24 volts None of the ports are configured as Digital Outputs by default and must therefore be configured in the object dictionary index 0x2000 in order to be used The port allocation and characteristics are described in the following tables Digital ON OFF Outputs Digital ON OFF Output Functional Group Regulated PWM Outputs igital ONORE Oulu Functional Group Mixed UO Electrical Characteristics for Digital ESCH Outputs Value Signal Name Parameter Unit Comment in e ue Output Voltage ofaa v Outputs shut down 30 V Digital ON OFF Prot2. X1 5 GND GND 5 4 Connector 2 Pin Port Default Signal Other Configurations DIN M12 female 5 pole X2 1 4 Regulated PWM Output Digital ON OFF Output Type 1 2 X2 2 3 Current Feedback O X2 3 4 Current Feedback 1 090 3 X2 4 3 Regulated PWM Output Digital ON OFF Output Type 1 o X2 5 GND GND a 2 Connector 3 Pin Port Default Signal Other Configurations X3 1 5V ref DIN M12 X3 2 9 Analog Input Type 1 Digital Input Type 1 0 5 0 32 V ele E X3 3 Analog GND Digital ON OFF Output Type 2 1 lo E 0 3 Digital Input Type 2 0 5 0 32 V o X3 4 13 Analog Input Type 2 PWM Output non regulated Pulse Counter Encoder A Input 5 4 Frequency Measurement X3 5 GND GND User Manual and Reference Handbook CrossFire MX1B CANopen slave Connector 4 Pin Port Default Signal Other Configurations X4 2 10 Analog Input Type 1 Digital Input Type 1 0 5 0 32 V female 5 pole X4 3 Analog GND 2 Digital ON OFF Output Type 2 O Digital Input Type 2 0 5 0 32 V 110 0 0 3 X4 4 14 Analog Input Type 2 PWM Output non regulated O Pulse Counter Encoder B Input 5 4 Frequency Measurement X4 5 GND GND Connector 5 Pin Port Default Signal Other Configurations DIN M12 X5 1 5V ref female 5 pole X5 2 12 Analog Input Type 1 Digital Input Type 1 0 5 0 32 V 2 X5 3 Analog GND O Digital ON OFF Output Type2 11920 8 X5 4 16 Analog Input
3. 2 25V Electrical Transients 3a 220 V ISO 7637 2 3b 220 V 4 5V 5 70 V RF electromagnetic field 200 1000 MHz 30 V m ISO 11452 2 EMC Susceptibility 1 kHz sine Component Bulk Current Injection 20 200 MHz 60 mA ISO 11452 4 1 kHz sine Frequency Narrowb Broadb e MHz dBuV m dBuV m Stee 30 75 54 44 64 54 ISO 14982 75 400 44 55 54 65 400 1000 55 65 Electrostatic Discharge 4 kV air contact ISO TR 10605 Enclosure IP67 IEC 60529 19 User Manual and Reference Handbook CrossFire MX1B CANopen slave Technical Support Contact your reseller or supplier for help with possible problems with your CrossFire MX1B In order to get the best help you should have access to your CrossFire MX1B and be prepared with the following information before you contact support Part number and serial number of the unit which you find on the brand label Date of purchase which is found on the invoice The conditions and circumstances under which the problem arises LED indicator colours and blink patterns EMCY object error codes if possible Description of external equipment which is connected to the CrossFire MX1B 20 User Manual and Reference Handbook CrossFire MX1B CANopen slave Trade Mark etc 2006 CrossControl All trademarks sighted in this document are the property of their respective owners CrossFire MX1B is a trademark which is the property of CrossControl CiA is a registered trade
4. CrossFire MX1b rev D 7 100823 CrossFire MX1B User Manual and Reference Handbook CrossFire MX1B CANopen slave cresscentrel User Manual and Reference Handbook CrossFire MX1B CANopen slave Table of Contents tree lee DEE 3 Functions and Features iaa dalton Sidon beste tink oan ada lei 4 Techical data iii aa 5 ReferenCeS id 6 Weight ang dimensions tii EI A i 6 a TT 7 Environmental Rene 7 Installation A ees eel A es eee 7 Electrical Interface cui hie ew ai ave Wa i de ee ei 8 CONE Cd ii een lee eae es eee ene ee ee ee 8 Electrical Interface Overview ico eee elie eee ieee esis seein 12 Electrical Interface Characteristics circensi minii de e tenants 13 LED INGICALONS EE 18 Appendix 1 Environmental Tolerances AA 19 Technical SUP POM uti A ee ee 20 rade Markl ses AS rs Ado Ns hk hee ek ie O Ate PIS erie Ma tds he Nea he Ate es Me Ls NE A PI a n 21 let EE ER User Manual and Reference Handbook CrossFire MX1B CANopen slave CrossFire MX1B Introduction The CrossFire MX1B is a general flexible UO module and controller for rough environments It fits in distributed and decentralized systems where you want to be able to put electronics close to the I O that will be managed The module is highly configurable and has its I O distributed over a number of M12 connectors The CrossFire MX1B is a CAN bus node and by configuring the node properties the module can be set up to automatically se
5. Max Input Voltage 10 24 36 V Output Voltage 0 8V batt V batt V See Object Dictionary index Baud tae 18 1089 RBIs 0x2011 for default baud rate LED indicators LED indicators LED Description Blink Pattern Meaning Off Communication OK ST Single flash CAN error state Red CAN Status Double flash Guarding of other node failed On Bus off Off No power to unit CAN Blinking Preoperational mode Green CANopen status Single flash Stopped mode On Operational mode On CrossFire MX1b power OK PS Red Power Off No CrossFire MX1b power or power too low 18 User Manual and Reference Handbook CrossFire MX1B CANopen slave Appendix 1 Environmental Tolerances Environmental Tolerances Environmental Test Level Standard E Functional During test High temperature 75 C 16 hours IEC 60068 2 2 Ab Functional During test Low temperature 40 C 16 hours IEC 60068 2 1 Bb Functional During test 40 C 30 C Change of temperature 5 C min IEC 60068 2 14 Nb 3 hour hold time 2 cycles Functional During test 25 C 55 C IEC 60068 2 30 Db Pampa Rel Humidity gt 95 6 x 24 hours Functional During test Shock 50g 6ms IEC 60068 2 27 3 impulses in 6 directions ASD level 5 mie 10 200 Hz Vibration ASD level 1 mie 200 500 Hz IEC 60068 2 6 60 min in 3 directions Conducted transients Pulse 1 50V
6. Possible Node ID 1 to 16 4 Ports 17 20 1 to 127 can be set in CAN Interface s w Also configurable as e 4 Digital Inputs e 4 Analog Inputs Serial Interface not available on Analog Input Ports 17 18 19 or 20 with external 250 Q resistor The analog inputs that are combined with on off outputs shall only be used as feedback for the outputs Because of the open load detection feature there will be a low current flowing to these outputs This makes the inputs not useful as ordinary analog inputs 12 User Manual and Reference Handbook CrossFire MX1B CANopen slave Electrical Interface Characteristics Analog Inputs There are three types of Analog Inputs available on the CrossFire MX1B Only ports 9 through 16 are configured by default Ports 17 through 20 must be reconfigured in the object dictionary index 0x2000 in order to be used as Analog Inputs The port allocations and characteristics of all Analog Inputs are described in the tables below Signal Type Comment Analog Input Type 1 Functional Group Analog Inputs Analog Input Type 2 Functional Group Mixed I O Analog Input Type 3 Functional Group ID Interface Electrical Characteristics for Analog Inputs Value Signal Name Parameter Unit Comment Min Typ Max Each port has a software Analog Input Type 1 0 5 32 V selectable range 5 32 Each port has a software selectab
7. Type 2 Digital Input Type 2 0 5 0 32 V O PWM Output non regulated 5 4 X5 5 GND GND Connector 6 Pin Port Default Signal Other Configurations DIN M12 X6 1 z 5V ref female 5 pole X6 2 11 Analog Input Type 1 Digital Input Type 1 0 5 0 32 V 2 X6 3 Analog GND O Digital ON OFF Output Type 2 1 000 3 X6 4 15 Analog Input Type 2 Digital Input Type 2 0 5 0 32 V 0 PWM Output non regulated 5 A X6 5 GND GND The analog inputs that are combined with on off outputs shall only be used as feedback for the outputs Because of the open load detection feature there will be a low current flowing to these outputs This makes the inputs not useful as ordinary analog inputs Connector 7 Pin Port Default Signal Other Configurations X7 1 6 Regulated PWM Output Digital ON OFF Output Type 1 X7 2 5 Current Feedback X7 3 6 Current Feedback X7 4 5 Regulated PWM Output Digital ON OFF Output Type 1 X7 5 GND GND DIN M12 female 5 pole 2 O 1 090 3 O 5 4 User Manual and Reference Handbook CrossFire MX1B CANopen slave Connector 8 Pin Port Default Signal Other Configurations DIN M12 female 5 pole X8 1 8 Regulated PWM Output Digital ON OFF Output Type 1 2 X8 2 7 Current Feedback O X8 3 8 Current Feedback 1 0090 3 X8 4 7 Regulate
8. bits for output drivers Ok short circuit open load or over current are sent directly with TPDO1 i e there is no need to request them with an SDO Reset function restores settings back to their factory default values CANopen Node ID is hardware configurable by means of a dongle or may be configured using SDO s User Manual and Reference Handbook CrossFire MX1B CANopen slave Technical data Processor Infineon C167 Physical Housing Plastic enclosure filled with silicon compound metal base plate Dimensions L x W x H 212 x 116 x 37 mm H 67 mm with connectors Weight 1 0 kg Environment Operating Temperature Range Protection rating Protection Class EMC Conformity 40 C to 85 C IP67 IEC 60529 II ISO 14982 for Emissions ISO 11452 2 for Immunity Power Supply Operating voltage Current consumption 10 to 36 VDC lt 100 mA at 24 V without external load Indicators PS Power ST CAN status CAN CANopen status CAN interface Communication profile Device Profile Drivers Baud Rate Node ID ISO 11898 2 High Speed CAN CANopen I O module to CIA DS401 Phillips 82C251 or 82C252 10 20 50 100 125 250 500 800 and 1000 kbit s 1 to 16 hardware set or 1 to 127 set with SDO s Serial Interface RS 232 Only for firmware loading not for application Connectors I O DIN M12 CAN DIN M12 Power DIN M23 Digital Inputs Input Voltage 0 5V 0 24V P
9. d PWM Output Digital ON OFF Output Type 1 O X8 5 GND GND S 4 CAN Connector Pin Port Default Signal Comments DIN M12 male 5 pole CAN 1 No Connection 2 CAN 2 No Connection 2 CAN 3 CANGND 3 1 CAN 4 CANH CAN 5 CANL 4 5 Power Supply PS Connector Pin Port Default Signal Comments DIN M23 PS 1 24 V 10 V 36 V supply Var maler polg PS 2 24 V Load dump protection E Ge Battery ground PS 4 E GND ue PS 5 TxD Standard RS 232 levels 10 V PS 6 RxD Standard RS 232 levels 10 V PS 7 Debug Used for program loading 3 ID Connector Pin Port Default Signal Other Configurations em DIN M12 x 1 Digital Input Type 3 0 5 V 5 ID 1 19 ID2 Analog Input Type 3 male 5 pole Digital Input Type 3 0 5 V Fa 18 DA Analog Input Type 3 d ID 3 GND 3 1 1D 4 47 IDO Digital Input Type 3 0 5 V S Analog Input Type 3 4 5 ID 5 20 ID3 Digital Input Type 3 0 5 V Analog Input Type 3 10 User Manual and Reference Handbook CrossFire MX1B CANopen slave ID Interface Lookup Table CANopen Node ID ID3 ID2 ID1 IDO 1 0 0 0 0 2 0 0 0 1 3 0 0 1 0 4 0 0 1 1 16 1 1 1 1 State 0 is reached by wiring corresponding ID pin to pin 3 GND State 1 is reached by leaving corresponding ID pin disconnected 7 Notice that the connector descriptions are those which are located on the unit not those that the attached cables shall have in order to mate with them Use caut
10. d automatically in hardware Regulated PWM Output 6 7 Must have inductive load 7 8 9 10 Non Regulated PWM f 14 Output No current regulation 12 Electrical Characteristics for PWM Outputs Value Signal Name Parameter Unit Comment Min Typ Max Output Voltage 0 24 30 V Outputs shut down 30 V Protected against short circuit to GND open load and tput t Regulated and Sripat uh 3 0 A overcurrent 3 0 A Non Regulated PWM Output Status can be read in software Output Frequency 10 kHz Corresponds to 0 1023 in Duty Cycle Range 0 100 Software Open load and short circuit detection The open load detection is active during the first 250 ms after start up of the MX1B unit An open load state can only be detected if the output is turned off which is the default state at start up The short circuit detection is active when an output is turned on If a short circuit state is detected then the corresponding port will be disabled and prevented to be turned on again The port will be disabled until the problem is solved and the power supply of MX1B is reset 16 User Manual and Reference Handbook CrossFire MX1B CANopen slave Pulse Counter Shaft Encoder Inputs Frequency Measurement The Pulse Counter Frequency Measurement and Shaft Encoder characteristics are electrically identical the only difference being how the signals are interpr
11. ected against short circuit Output Type 1 and to gnd open load and overload Type 2 Output Current 30 A 3 0 A Status can be read in software Open load and short circuit detection The open load detection is active during the first 250 ms after start up of the MX1B unit An open load state can only be detected if the output is turned off which is the default state at start up According to the configuration possibilities for port 13 16 the open load detection might not be reliable Therefore it is not recommended to use the open load detection feature for port 13 16 The short circuit detection is active when an output is turned on If a short circuit state is detected then the corresponding port will be disabled and prevented to be turned on again The port will be disabled until the problem is solved and the power supply of MX1B is reset 15 User Manual and Reference Handbook CrossFire MX1B CANopen slave PWM Outputs Regulated amp Non Regulated There are two types of PWM outputs namely Regulated and Non Regulated PWM Outputs The Non regulated PWM Outputs are not enabled by default In order to enable them the corresponding ports must be configured as Analog Outputs by writing an SDO to the object dictionary address 0x2000 The following tables show the port allocations and characteristics of the PWM Outputs PWM Outputs Port Signal Name Comment 1 2 3 Current Regulation is performe
12. eted in software so they are grouped together here for simplicity By default these Inputs are not available In order to use these inputs reconfigure the ports in the object dictionary at index 0x2000 The following tables describe the port allocations and characteristics of the PWM Outputs Note that both ports are required to read a single Shaft Encoder Pulse Counter Shaft Encoder Inputs Frequency Measurement Port Signal Name Comment Pulse Counter 13 Shaft Encoder A Frequency Measurement Pulse Counter 14 Shaft Encoder B Frequency Measurement Functional Group Mixed I O Electrical Characteristics for Pulse Counter Shaft Encoder Inputs Frequency Measurement Value Signal Name Parameter Unit Comment Min Typ Max Pulse Counter Software selectable input Frequency Input Voltage 0 5 24 V voltage range Measurement Shaft Encoder Frequency 0 60 kHz Interrupt driven Power Interface Power Interface Electrical Characteristics Value Parameter Unit Comment Min Typ Max Outputs disabled 30 V Supply Voltage Vba D a 96 y Load dump protected 40 V Supply Current 0 1 18 A External 18 A fuse required 17 User Manual and Reference Handbook CrossFire MX1B CANopen slave CAN Interface CAN Interface Electrical Characteristics Value Parameter Unit Comment Min Typ
13. ion when plugging unplugging connectors If the pins become bent or damaged they may not function correctly or in the worst case the CrossFire MX1B or other equipment may be damaged 11 User Manual and Reference Handbook CrossFire MX1B CANopen slave Electrical Interface Overview The CrossFire MX1B is highly configurable The following illustration consists of several boxes which represent the main functional groups on the CrossFire MX1B The arrows leading to and from the functional groups represent I O power or communication busses The configuration can be changed by writing to the object dictionary in the Manufacturer Specific Profile Area 0x2000 to OxSFFF CrossFire MX1B Analog Inputs Type 1 Regulated PWM Outputs Each Se wiin Current regulation 4 Ports 9 12 X range selection automatically A dE SC performed in H W 0 to 20mA 8 Ports 1 8 Also configurable as e 8 Digital ON OFF Outputs Also configurable as e 4 Digital inputs Digital Inputs Mixed I O Analog Inputs Type 2 There can be as many Configurable as as 12 Digital Inputs e 4 Analog Inputs available only when default other ports are e 4 Digital Inputs configured as Digital e 4 Digital Outputs Inputs e 4 PWM Outputs non regulated Ports 13 and 14 also configurable as e 2 Pulse Counters e 1 Shaft Decoder e 2 Frequency Inputs ID Interface
14. le range Analog Input Type 2 Input Voltage 0 or Vv A a V batt Damage Occurs if Input Voltage exceeds Vhatt Analog Input Type 3 0 5 V 10 kQ pull up to 5 V Input Impedance S Analog Input N H S SCH e 11 5 kQ pull down Type 1 and 2 Input Impedance 1 MQ pull down Analog Input Type 3 0 5 volt range 10 kO pull up Resolution 10 bits Total Unadj Error 2 LSB 0 5 volt range Analog Inputs Types 1 28 3 Input Capacitance 100 nF Protection Diode Clamp protected against over and under voltage Use of 0 32 Volt range adversely affects input impedance and error The analog inputs that are combined with on off outputs shall only be used as feedback for the outputs Because of the open load detection feature there will be a low current flowing to these outputs This makes the inputs not useful as ordinary analog inputs 13 User Manual and Reference Handbook CrossFire MX1B CANopen slave Digital Inputs There are three types of Digital Inputs available on the CrossFire MX1B Only ports 17 to 20 however are available by default The desired ports must therefore be reconfigured as Digital Inputs in order to be used See object dictionary index 0x2000 The port allocations and characteristics of all Digital Inputs are described in the tables below Digital Inputs Port Signal Name Comment Digital Input Type 1 Functional Group Analog Inputs Digital Input Type 2 Functional Group Mixed I O
15. mark which is the property of CAN in Automation CrossControl is not responsible for editing errors technical errors or for material which has been omitted in this document CrossControl is not responsible for unintentional damage or for damage which occurs as a result of supplying handling or using of this material The information in this handbook is supplied without any guarantees and can change without prior notification 21 User Manual and Reference Handbook CrossFire MX1B CANopen slave CrossFire Mai Index R P Analogi Meter teen 13 Pulse Coumter neen neenernnnennrennnenn eea 17 c PWM Outsputs iisi inpri i aenn 16 CAN Interface ooooocococccccccccococonoccconcnnnnnononcnnnnnninnnns 18 R CE Marking cti tdo 6 Caifanes ho cts eae ete a aca ace 5 er E 2 CONG WEE E 7 SE D S A 14 Shaft Encoder Inputs en 17 Digital Outputs iian iria 15 DIMENSIONS 5 EEN 5 6 T Temperature 5 E A e iA 21 Environment eiei Seana 5 V W l Waranty nata e 7 Weightiss torcida del hada do 5 EE esii a VIBratON eses ota or es dois 7 M Molist id 7 22 User Manual and Reference Handbook CrossFire MX1B CANopen slave CrossContol AB 23 C P O Box 83 SE 822 22 Alfta e Sweden Phone 46 271 75 76 00 info crosscontrol se e www crosscontrol com
16. nd and receive I O to and from the CAN bus network The CrossFire MX1B supports the CANopen protocol which is one of the leading protocols used for CAN bus networks This document describes how the CrossFire MX1B CANopen slave should be used The reader should be familiar with the CANopen standard in order to fully understand the manual User Manual and Reference Handbook CrossFire MX1B CANopen slave Functions and Features The CrossFire MX1B is a CiA DS 401 I O Input output module designed for automotive products equipped with hydraulic components It has 20 individually configurable I O ports to provide various types of I O The CrossFire MX1B can therefore be configured to have Up to 12 Digital ON OFF Outputs PNP Open Emitter Up to 12 Digital Inputs Up to 12 Analog Inputs 8 of which have two software selectable ranges 0 5 V or 0 32 V Up to 8 Regulated PWM Pulse Width Modulated Outputs Up to 4 Non Regulated PWM Outputs Up to 2 Pulse Counter Inputs or 1 pair of Shaft Encoder Inputs Up to 2 Frequency Measurement inputs Configurable using SDO s Service Data Object 8 dynamically mapped PDO s Process Data Objects compliant to DS 401 Supports use of synch object Support for both heartbeat and node guarding The CrossFire MX1B is an EMCY Emergency object producer The COB ID Communication Object Identifier of the EMCY object can be configured Storage for up to 127 Error codes Status
17. slave Identification There is a label on the back of the CrossFire MX1B On the label there are numbers which identify your unique module Take note of them During service and other contact with the supplier it is important to be able to provide these numbers Environmental Tolerance The CrossFire MX1B has been designed to cope with tough environmental demands Strict tests have been conducted on the unit in order to ensure that it fulfils the expectations of a rugged unit Much work has been performed to choose and design integral components so that they in the best possible way and under all circumstances provide you with a dependable working instrument In Appendix 1 a list of standards can be found according to which the CrossFire MX1B has been tested and approved Despite thorough design requirements and testing specifications it is always best to install and handle the CrossFire MX1B with care Installation Your CrossFire MX1B should be installed in such a way that the module is not exposed to any unnecessary stress heat vibration or moisture In this section some recommendations are made regarding methods for how the unit should be installed If the unit is opened by non authorised personnel the warranty becomes invalid Cooling Although the CrossFire MX1B can operate in relatively high temperatures cooling should still be considered when installing the CrossFire MX1B If the unit becomes too warm i
18. t may not perform to its full capacity and with high temperature cease to function Common sense should be used to select an appropriate location where adequate cooling is achievable It is not recommended to install the module near a vehicle s exhaust system for example Inadequate cooling may lead to overheating causing permanent damage to the unit Vibration We recommend installing the CrossFire MX1B in such a way that it is not unnecessarily exposed to vibration or other stress Rain Moisture The CrossFire MX1B shall preferably be placed under a roof in order to prevent direct exposure to water User Manual and Reference Handbook CrossFire MX1B CANopen slave CrossFire MX1B Electrical Interface Connectors Every I O pin on the CrossFire MX1B is assigned a unique port The ports are numbered from 1 to 20 Every port may be configured individually in software to one of 6 different I O types Not all I O types are available on all ports In some cases a port is associated with more than one pin This occurs when two or more pins work together to perform a certain function Connector 1 Pin Port Default Signal Other Configurations DIN M12 female 5 pole X1 1 2 Regulated PWM Output Digital ON OFF Output Type 1 2 X1 2 1 Current Feedback O X1 3 2 Current Feedback 1 n X1 4 1 Regulated PWM Output Digital ON OFF Output Type 1 O
19. ulse Frequency up to 60 kHz Shaft Encoder Inputs Full quadrature decoding Analog Inputs Input Voltage 0 5 V 0 32 V or 0 20 mA Input impedance 1 MQ 0 5 V 11 5 kO 0 32 V Resolution 10 bits Total Unadjusted Error 2 LSB s Digital Outputs Max Voltage 30 V Max Current 3A Total Current 18 A external fuse not included Protection Ground Fault Over Current Open Load with Status Feedback PWM Analog Outputs Max Voltage 30 V Max Current 3A Resolution 0 1 Protection Ground Fault Over Current Open Load with Status Feedback Certifications Compliance ce EJE cia The analog inputs that are combined with on off outputs shall only be used as feedback for the outputs Because of the open load detection feature there will be a low current flowing to these outputs This makes the inputs not useful as ordinary analog inputs User Manual and Reference Handbook CrossFire MX1B CANopen slave References CAN in Automation CANopen standard http www can cia org CE Marking http ec europa eu International Standards Organisation http www iso org International Electrotechnical Commission http www iec ch Weight and dimensions The CrossFire MX1B dimensions and placement of the four mounting holes is illustrated below The four mounting lugs have clearance for 4 mm bolts The module weighs 1 0 kg User Manual and Reference Handbook CrossFire MX1B CANopen
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