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["Connection list for the ESX 3XL computer in the AMS"]
["Created 2009may18.",null,null,null,"Last edited: 2010may25."]
["Connector.Pin","Connector","Pin","CAD-name","Generic type","C name","C type","AMS type","AMS name","Description"]
[{"$nulls":9},"Power Supply"]
["KS1.2",1,2,"GND","Power","-","-","Power","GND","Power ground. Multiple terminals should be provided for easy addition and removal of actuators."]
["KS1.6",1,6,"+UE","Power","-","-","Power, +12 V","12 V Clean","Power supply for electronics (1 A estimated)."]
["KS1.5",1,5,"+UB1","Power","X_SYS_RELAY_01","-","Power; +12 V","12 V Dirty","Actuator power supply (output 1 thru 8) (8 * 4 A??)."]
["KS2.5",2,5,"+UB2","Power","X_SYS_RELAY_02","-","Power, +12 V","12 V Dirty","Actuator power supply (output 9 thru 16) (8 * 2.5 A??)."]
["KS2.2",2,2,"+UB3","Power","X_SYS_RELAY_03","-","Power, +12 V","12 V Dirty","Actuator power supply (output 17 thru 24) (8 * 2.5 A??)."]
[{"$nulls":9},"System"]
["KS1.25",1,25,"D+","Input","x_sys_get_ignition","-","Signal (12 V)","??12 V Clean?","Ignition (signal to program)."]
[{"$nulls":9},"Communication"]
["KS1.7",1,7,"CAN1_H","Signal","X_CAN_BUS_01","-","CAN bus","CAN_H_NAVCOM","CAN bus for communication with the Navigation Computer (250000 bps) (and programming of the ESX 3XL (125000 bps)). Note: GND terminal should be close by for connection to laptop during programming."]
["KS1.26",1,26,"CAN1_L","Signal","X_CAN_BUS_01","-","CAN bus","CAN_L_NAVCOM"]
["KS1.8",1,8,"CAN1_H","Signal","X_CAN_BUS_01","-","CAN bus","CAN_H_AUTO_TEST","CAN bus for connection to test sequence generator (CAN2, 250000 bps)."]
["KS1.27",1,27,"CAN1_L","Signal","X_CAN_BUS_01","-","CAN bus","CAN_L_AUTO_TEST"]
["KS1.45",1,45,"CAN2_H","Signal","X_CAN_BUS_02","-","CAN bus","CAN_H_TEST_GEN","CAN bus assigned for generation of CAN message test sequences (250000 bps)."]
["KS1.64",1,64,"CAN2_L","Signal","X_CAN_BUS_02","-","CAN bus","CAN_L_TEST_GEN"]
["KS1.44",1,44,"TXD","Signal (output)","X_SER_01","-","RS-232 TX","TXD","Serial line output for logging/debugging (115200 bps, 8 databit, no parity). Note: GND terminal should be close by for connection to log computer."]
["KS1.63",1,63,"RXD","Signal (input)","X_SER_01","-","RS-232 RX","RXD","Serial line input (currently not used, but could be initiation of test sequences)."]
["KS2.63",2,63,"CAN3_H","Signal","X_CAN_BUS_03","-","CAN bus","CAN_H_LOG","CAN bus for logging purposes (will probably require new equipment (hardware or software) to collect messages) (1 Mbit/s??). Note: GND terminal should be close by for connection to log computer."]
["KS2.44",2,44,"CAN3_L","Signal","X_CAN_BUS_03","-","CAN bus","CAN_L_LOG"]
[{"$nulls":9},"Engine rpm"]
["KS1.30",1,30,"AIN_DIN7","Input","X_IN_07","X_IN_TYPE_EVENT_BOTH","Digital pulse input","ENGINE_RPM","Engine speed signal. PNP output, thus enable pull-down resistor."]
["KS1.70",1,70,"AIN_DIN1","Input","X_IN_01","X_IN_TYPE_FREQUENCY","Digital frequency input","ENGINE_RPM","Extra input for the engine speed signal. ??Enable pull-down?"]
["KS2.51",2,51,"HS2.5A_PWM_MUT17","Output","X_OUT_17","X_OUT_TYPE_PWM","PWM output--->analog","THROTTLE","Output for control of engine speed. Will currently be connected to analog input of a Soft Servo 2000 servo-controller (i.e. it should be low-pass filtered; a GND terminal should be located close-by for connection of the low-pass filter). The output might be able to drive the LINAK directly, but then an extra analog input for feedback from the LINAK is needed (use Uext2 for potentiometer?)."]
[{"$nulls":9},"Steering"]
["KS2.49",2,49,"HS2.5A_PWM_MUT9","Output","X_OUT_09","X_OUT_TYPE_PWM","PWM output","STEERING_ACTU","Output for control of Steering. Connected to Danfoss PVG??"]
["KS1.68",1,68,"AIN_DIN9","Input","X_IN_09","X_IN_TYPE_VOLTAGE_10V","Analog input","STEERING_LEFT","Input from left front wheel (potentiometer; minimize pull-up/pull-down resistors)."]
["KS1.9",1,9,"AIN_DIN14","Input","X_IN_14","X_IN_TYPE_VOLTAGE_10V","Analog input","STEERING_RIGHT","Input from right front wheel (potentiometer; minimize pull-up/pull-down resistors)."]
["KS1.66",1,66,"Uext1","Signal (sensor supply)","X_SYS_SENSOR_SUPPLY_01",null,"Sensor supply","STEER_EXCITATION","\"Supply\" for feedback potentiometers."]
["KS1.47",1,47,"AGND","Signal (sensor supply)",null,null,"Sensor ground","STEER_AGND","Analog ground for feedback potentiometers."]
[{"$nulls":9},"CVT"]
["KS2.50",2,50,"HS2.5A_PWM_MUT13","Output","X_OUT_13","X_OUT_TYPE_PWM","PWM output--->analog","CVT_REF","Output for control of CVT (Continuous Variable Transmission). Will currently be connected to an analog input of a Soft Servo 2000 servo-controller (i.e. it should be low-pass filtered; a GND terminal should be located close-by for connection of the low-pass filter). The output might be able to drive the LINAK directly, but then an extra analog input for feedback from the LINAK is needed (use Uext3 for potentiometer?)."]
["KS1.49",1,49,"AIN_DIN8","Input","X_IN_08","X_IN_TYPE_DIGITAL","Digital input","CVT_NEUTRAL","The \"CVT in neutral\" input. ??Should pull-down resistors be enabled?"]
["KS1.69",1,69,"AIN_DIN5","Input","X_IN_05","X_IN_TYPE_EVENT_BOTH","Digital pulse input","CVT_QE_A","Quadrature encoder input channel A, used on the prop. shaft. Interfacing to PNP output; pull-down resistors should be enabled."]
["KS1.11",1,11,"AIN_DIN6","Input","X_IN_06","X_IN_TYPE_EVENT_BOTH","Digital pulse input","CVT_QE_B","Quadrature encoder input channel B, used on the prop. shaft. Interfacing to PNP output; pull-down resistors should be enabled."]
["KS1.12",1,12,"AIN_DIN2","Input","X_IN_02","X_IN_TYPE_FREQUENCY","Digital frequency input","CVT_FREQ","Duration measurement (rising-edge to rising-edge) for the quadrature encoder (channel A). ??Enable pull-down?"]
["KS1.48",1,48,"AIN_DIN12","Input","X_IN_12","X_IN_VOLTAGE_10V","Analog input","CVT_EMF","Shaft speed sensor (sensor with output voltage proportional to speed). Currently not relevant. 10 V range for compatibility with other inputs; 5 V would be more relevant."]
[{"$nulls":9},"Audio-visual Signals"]
["KS1.51",1,51,"HS4A_PWM_MUT3","Output","X_OUT_03","X_OUT_TYPE_DIGITAL","Digital output","HEAD_LIGHT","Head lights. Unknown whether the output can drive the luminaires directly (or if an intermediate relay is needed)."]
["KS1.14",1,14,"HS4A_PWM_MUT6","Output","X_OUT_06","X_OUT_TYPE_DIGITAL","Digital output","REV_LIGHT","Reversing lights. Unknown whether the output can drive the luminaires directly."]
["KS1.71",1,71,"HS4A_PWM_MUT7","Output","X_OUT_07","X_OUT_TYPE_DIGITAL","Digital output","FLASH_LEFT","Flashing lights left. With current program interface, this will be on/off, i.e. the flashing has to be provided by hardware. Unknown whether this output could drive the luminaires in case of direct drive."]
["KS1.72",1,72,"HS4A_PWM_MUT8","Output","X_OUT_08","X_OUT_TYPE_DIGITAL","Digital output","FLASH_RIGHT","Flashing lights right. With current program interface, this will be on/off, i.e. the flashing has to be provided by hardware. Unknown whether this output could drive the luminaires in case of direct drive."]
["KS1.52",1,52,"HS4A_PWM_MUT4","Output","X_OUT_04","X_OUT_TYPE_DIGITAL","Digital output","HORN","Horn. Unknown whether the output can drive the horn directly."]
[{"$nulls":9},"Front"]
["KS1.32",1,32,"HS4A_PWM_MUT1","Output","X_OUT_01","X_OUT_TYPE_DIGITAL","Digital output","AUX_FRONT","Auxiliary hydraulics front. ??Direct drive?"]
["KS2.12",2,12,"HS2.5A_PWM_MUT15","Output","X_OUT_15","X_OUT_TYPE_DIGITAL","Digital output","PTO_FRONT","PTO front. ??Direct drive?"]
["KS2.32",2,32,"HS2.5A_PWM_MUT18","Output","X_OUT_18","X_OUT_TYPE_DIGITAL","Digital output","HITCH_FRONT_UP","Hitch front 1 (up). ??Direct drive?"]
["KS2.13",2,13,"HS2.5A_PWM_MUT19","Output","X_OUT_19","X_OUT_TYPE_DIGITAL","Digital output","HITCH_FRONT_DOWN","Hitch front 2 (down). ??Direct drive?"]
["KS2.71",2,71,"HS2.5A_PWM_MUT20","Output","X_OUT_20","X_OUT_TYPE_DIGITAL","Digital output","SWIM_FRONT","Swim front. ??Direct drive?"]
[{"$nulls":9},"Rear"]
["KS1.33",1,33,"HS4A_PWM_MUT2","Output","X_OUT_02","X_OUT_TYPE_DIGITAL","Digital output","AUX_REAR","Auxiliary hydraulics rear. ??Direct drive?"]
["KS2.70",2,70,"HS2.5A_PWM_MUT16","Output","X_OUT_16","X_OUT_TYPE_DIGITAL","Digital output","PTO_REAR","PTO rear. ??Direct drive?"]
["KS2.33",2,33,"HS2.5A_PWM_MUT22","Output","X_OUT_22","X_OUT_TYPE_DIGITAL","Digital output","HITCH_REAR_UP","Hitch rear 1 (up). ??Direct drive?"]
["KS2.14",2,14,"HS2.5A_PWM_MUT23","Output","X_OUT_23","X_OUT_TYPE_DIGITAL","Digital output","HITCH_REAR_DOWN","Hitch rear 2 (down). ??Direct drive?"]
["KS1.29",1,29,"AIN_DIN11","Input","X_IN_11","X_IN_VOLTAGE_10V","Analog input","HITCH_REAR_POS","Hitch rear position. Potentiometer, thus minimize loading (pull-up/pull-down resistors)."]
["KS2.64",2,64,"Uext2","Signal (sensor supply)","X_SYS_SENSOR_SUPPLY_02",null,"Sensor supply","HITCH_EXCITATION","\"Supply\" for feedback potentiometer."]
["KS2.45",2,45,"AGND","Signal (sensor supply)",null,null,"Sensor ground","HITCH_AGND","Analog ground for feedback potentiometer."]
[{"$nulls":9},"Mode and Safety Circuit"]
["KS2.30",2,30,"HS2.5A_PWM_MUT10","Output","X_OUT_10","X_OUT_TYPE_DIGITAL","Digital output","SAF_CIR_ENABLE","Safety circuit enable."]
["KS2.11",2,11,"HS2.5A_PWM_MUT11","Output","X_OUT_11","X_OUT_TYPE_DIGITAL","Digital output","REDUCED_SPEED","Reduced speed (currently not relevant …)."]
["KS2.69",2,69,"HS2.5A_PWM_MUT12","Output","X_OUT_12","X_OUT_TYPE_DIGITAL","Digital output","ESX_AUTO","ESX in Auto (??to \"Decision CPU\"?)."]
["KS2.31",2,31,"HS2.5A_PWM_MUT14","Output","X_OUT_14","X_OUT_TYPE_DIGITAL","Digital output","ENGINE_STOP","Engine stop (??to \"Decision CPU\"?)."]
["KS1.31",1,31,"AIN_DIN3","Input","X_IN_03","X_IN_TYPE_DIGITAL","Digital input","SAF_CIR_A_STATE","Safety circuit A state."]
["KS1.50",1,50,"AIN_DIN4","Input","X_IN_04","X_IN_TYPE_DIGITAL","Digital input","SAF_CIR_B_STATE","Safety circuit B state (currently not relevant …)."]
["KS2.67",2,67,"AIN_DIN24","Input","X_IN_24","X_IN_TYPE_DIGITAL","Digital input","RFID_PRESENT","RFID present. Whether the operator is detected … Currently not relevant."]
["KS2.48",2,48,"AIN_DIN25","Input","X_IN_25","X_IN_TYPE_DIGITAL","Digital input","AUTO_SWITCH","Auto switch (automatic mode??)."]
["KS2.29",2,29,"AIN_DIN26","Input","X_IN_26","X_IN_TYPE_DIGITAL","Digital input","MODE_SW1","Mode switch 1."]
["KS2.10",2,10,"AIN_DIN27","Input","X_IN_27","X_IN_TYPE_DIGITAL","Digital input","MODE_SW2","Mode switch 2."]
["KS2.68",2,68,"AIN_DIN28","Input","X_IN_28","X_IN_TYPE_DIGITAL","Digital input","MODE_SW3","Mode switch 3."]
[{"$nulls":9},"Miscellaneous"]
["KS1.28",1,28,"AIN_DIN15","Input","X_IN_15","X_IN_VOLTAGE_10V","Analog input","FUEL_LEVEL","Fuel level."]
["KS2.46",2,46,"AIN_DIN17","Input","X_IN_17","X_IN_VOLTAGE_10V","Analog input","OIL_PRES_1","Oil pressure sensor 1"]
["KS2.27",2,27,"AIN_DIN18","Input","X_IN_18","X_IN_VOLTAGE_10V","Analog input","OIL_PRES_2","Oil pressure sensor 2."]
["KS2.8",2,8,"AIN_DIN19","Input","X_IN_19","X_IN_VOLTAGE_10V","Analog input","OIL_TEMP","Oil temperature."]
["KS2.66",2,66,"AIN_DIN20","Input","X_IN_20","X_IN_VOLTAGE_10V","Analog input","ENGINE_TEMP","Engine temperature."]
["KS2.47",2,47,"AIN_DIN21","Input","X_IN_21","X_IN_VOLTAGE_40V","Analog input","DIRTY_12V","Battery voltage A; dirty 12 V supply."]
["KS2.28",2,28,"AIN_DIN22","Input","X_IN_22","X_IN_VOLTAGE_40V","Analog input","CLEAN_12V","Battery voltage B, clean 12 V supply."]
["KS2.9",2,9,"AIN_DIN23","Input","X_IN_23","X_IN_VOLTAGE_40V","Analog input","CLEAN_24V","Battery voltage B (2); clean 24 V supply."]
["KS1.13",1,13,"HS4A_PWM_MUT5","Output","X_OUT_05","X_OUT_TYPE_DIGITAL","Digital output","GO1","Generic output 1."]
["KS2.52",2,52,"HS2.5A_PWM_MUT21","Output","X_OUT_21","X_OUT_TYPE_DIGITAL","Digital output","GO2","Generic output 2."]
[{"$nulls":9},"Unassigned"]
[{"$nulls":9},"… but likely to be used."]
["KS1.67",1,67,"AIN_DIN13","Input","X_IN_13","??","??","??","??"]
["KS1.10",1,10,"AIN_DIN10","Input","X_IN_10","??","??","??","??Defective?"]
["KS2.65",2,65,"AIN_DIN16","Input","X_IN_16","??","??","??","??"]
["KS2.15",2,15,"HS2.5A_PWM_MUT24","Output","X_OUT_24","??","??","??","??"]
["KS2.26",2,26,"Uext3","Signal (sensor supply)","X_SYS_SENSOR_SUPPLY_03",null,"Sensor supply","??_EXCITATION","??"]
["KS2.7",2,7,"AGND","Signal (sensor supply)",null,null,"Sensor ground","??_AGND","??"]

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["Explanation of column names."]
[]
["Column name","Description"]
["Connector.Pin","The connector name and pin number in one \"word\" as used on schematics, eg. KS1.52"]
["Connector","The connector number (numeric value for sorting, 1 for KS1, and 2 for KS2)."]
["Pin","The pin number (numerical value for sorting). Thus the \"Connector\" and \"Pin\" columns contain the same information as \"Connector.Pin\"."]
["CAD name","The name of the signal in the ESX 3XL documentation (\"Pin assignment\" in the ESX 3XL documentation)."]
["Generic type","The type of the connection (Power, Input, Output, …) as found in the ESX 3XL documentation (the use in the AMS might relax the \"wiring requirements\")."]
["C name","The \"C-HAL define\" column from the ESX 3XL documentation. For inputs this will be the macro used in calls to 'x_in_init' and 'x_in_get_value' (e.g. X_IN_03), for outputs the macro used in calls to 'x_out_init' and 'x_out_set_value' etc. (e.g. X_OUT_04), for power lines it is the safety relay (e.g. X_SYS_RELAY_01). A \"-\" is used if there is no relevant C name."]
["C type","For inputs and outputs the type has to be configured (i.e. input range and handling for inputs, output type (PWM/digital) for outputs)."]
["AMS name","The name of the signal in the AMS context."]
["AMS type","The electrical characteristics of the signal as it is used on the AMS (i.e. an output with high current-carrying capacity might be used as an analog reference, such that instead of thicker wiring a low-pass filter should be added)."]
["Description","Any additional description, future upgrade notes etc. for the \"signal\". This field might also be used as a \"heading\" for the functional group described next (in the subsequent rows)."]
[]
["If the sensor supplies are going to be used for more than one sensor (and functional group), then the Uext and AGND should probably be moved to the \"System\" group."]