B&R X90CP154.60-00M
X90 mobile controller, ARM Cortex A9-650, 256 MB DDR3 RAM, 32 kB FRAM, 4 GB flash memory, 1 POWERLINK on M12, 1 Ethernet 10/100BASE-T on M12, 3 CAN on CMC header, 1 LIN on CMC header, 1 RS232 on CMC header, 60 multifunction I/Os, 1 sensor power supply, die-cast aluminum housing, service access window, LED status indicators DNV certification
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Technical specifications
Short description
| Interfaces | 1x Ethernet/POWERLINK (switchable), 1x POWERLINK, 3x CAN bus, 1x LIN bus, 1x RS232, 1x USB |
| System module | Controller |
General information
| Diagnostics / Module run/error | Yes, using LED status indicator, software and diagnostic output |
| Diagnostics / CPU function | Yes, using LED status indicator |
| Diagnostics / Ethernet | Yes, using LED status indicator |
| Support / Controller redundancy | No |
| Support / Storage health data support | Yes |
| Support / ACOPOS support | Yes |
| Support / reACTION-capable I/O channels | No |
| Support / Visual Components support | Yes |
| Certifications / CE | Yes |
| Certifications / UKCA | Yes |
| Certifications / CRA (Cyber Resilience Act) | In preparation |
| Certifications / DNV | Temperature: D (-25 to 55°C) Humidity: B (up to 100%) Vibration: B (4 g) EMC: B (bridge and open deck) Enclosure: B (engine room) |
| Insulation voltage for GND and housing | 500 Veff |
| B&R ID code | 0x352C |
| Cooling | Fanless |
| Status indicators | Controller function, operating mode, overtemperature, Ethernet, POWERLINK |
| Power consumption | CPU at Ue = 9 / 32 V: 4.8 / 6.0 W |
Input power supply
| Input voltage V_CPU, V_I/O / Nominal voltage 12 V | 9 to 16 VDC |
| Input voltage V_CPU, V_I/O / Nominal voltage 24 V | 16 to 32 VDC |
| Input current / V_CPU | During operation Typ. 420 mA at 12 V Typ. 240 mA at 24 V In standby mode Typ. 18 mA at 12 V Typ. 13 mA at 24 V |
| Input current / V_I/O | Max. 10 A per connection pin |
| Integrated protective function / V_CPU | No, required fuse 5 A slow-blow |
| Integrated protective function / V_I/O | No, required fuse 10 A slow-blow per connection pin |
| Input voltage | 9 to 32 VDC |
| Reset switching threshold | 5.4 V |
| Overvoltage | Max. 48 V |
| Overvoltage protection | Load dump pulse A 202 V Ri = 4 Ω |
| Reverse polarity protection | Max. -48 V |
Controller
| Processor / L1 cache / Data code | 32 kB |
| Processor / L1 cache / Program code | 32 kB |
| Processor / Type | ARM Cortex-A9 |
| Processor / Clock frequency | 650 MHz |
| Processor / L2 cache | 512 kB |
| Standard memory / RAM | 256 MB DDR3 SDRAM |
| Application memory / Writable data amount / Guaranteed | 100 TB |
| Application memory / Writable data amount / Results for 5 years | 54.8 GB/day |
| Application memory / Type | 4 GB flash memory |
| Application memory / Data retention | 10 years |
| Application memory / Guaranteed erase/write cycles | 100,000 |
| Application memory / Error-correcting code (ECC) | Yes |
| Real-time clock | Resolution 1 s, retention min. 48 hours, typ. 250 hours at 25°C, precision ±30 ppm over the entire temperature range |
| Floating point unit (FPU) | Yes |
| Integrated I/O processor | Processes I/O data points in the background |
| Option boards | Not available |
| Remanent variables | 32 kB FRAM, retention >10 years |
| Shortest task class cycle time | 400 µs |
Interfaces
| Interface IF1 / Type | RS232 |
| Interface IF1 / Variant | Connection on CMC header X1.A |
| Interface IF1 / Max. distance | 3 m |
| Interface IF1 / Transfer rate | Max. 115.2 kbit/s |
| Interface IF2 / Transfer / Physical layer | 10BASE-T/100BASE-TX |
| Interface IF2 / Transfer / Half-duplex | Yes |
| Interface IF2 / Transfer / Full-duplex | Yes |
| Interface IF2 / Transfer / Autonegotiation | Yes |
| Interface IF2 / Transfer / Auto-MDI/MDIX | Yes |
| Interface IF2 / Type | Ethernet / POWERLINK |
| Interface IF2 / Variant | M12, D-coded |
| Interface IF2 / Line length | Max. 100 m between 2 stations (segment length) |
| Interface IF2 / Transfer rate | 10/100 Mbit/s |
| Interface IF3 / Transfer / Physical layer | 100BASE-TX |
| Interface IF3 / Transfer / Half-duplex | Yes |
| Interface IF3 / Transfer / Full-duplex | No |
| Interface IF3 / Transfer / Autonegotiation | Yes |
| Interface IF3 / Transfer / Auto-MDI/MDIX | Yes |
| Interface IF3 / Fieldbus | POWERLINK managing or controlled node |
| Interface IF3 / Type | Type 6 |
| Interface IF3 / Variant | M12, D-coded |
| Interface IF3 / Line length | Max. 100 m between 2 stations (segment length) |
| Interface IF3 / Transfer rate | 100 Mbit/s |
| Interface IF4 / Type | USB 1.1/2.0 |
| Interface IF4 / Variant | Type A (under service access window) |
| Interface IF4 / Max. output current | 500 mA |
| Interface IF5 / Type | LIN |
| Interface IF5 / Variant | Connection on CMC header X1.A |
| Interface IF5 / Max. distance | 40 m |
| Interface IF5 / Transfer rate | Max. 19.2 kbit/s |
| Interface IF7 / Connection designation | CAN1 |
| Interface IF7 / Type | CAN bus |
| Interface IF7 / Variant | Connection on CMC header X1.A |
| Interface IF7 / Max. distance | 1000 m |
| Interface IF7 / Transfer rate | Max. 1 Mbit/s |
| Interface IF7 / Terminating resistor | External 120 Ω must be provided. |
| Interface IF8 / Connection designation | CAN2 |
| Interface IF8 / Type | CAN bus |
| Interface IF8 / Variant | Connection on CMC header X1.A |
| Interface IF8 / Max. distance | 1000 m |
| Interface IF8 / Transfer rate | Max. 1 Mbit/s |
| Interface IF8 / Terminating resistor | External 120 Ω must be provided. |
| Interface IF9 / Connection designation | CAN3 |
| Interface IF9 / Type | CAN bus |
| Interface IF9 / Variant | Connection on CMC header X1.A |
| Interface IF9 / Max. distance | 1000 m |
| Interface IF9 / Transfer rate | Max. 1 Mbit/s |
| Interface IF9 / Terminating resistor | External 120 Ω must be provided. |
Multi-function inputs
| Multifunction digital inputs MF-DI (std) / Quantity | 2 |
| Multifunction digital inputs MF-DI (std) / Function | Digital input Sink/Source circuit - Configurable per channel, configurable software input filter |
| Multifunction digital inputs MF-DI (CI) / Quantity | 8 |
| Multifunction digital inputs MF-DI (CI) / Function | Digital input Sink/Source circuit - Configurable per channel, configurable software input filter, counter function up to 50 kHz counter frequency (max. 4x AB, max. 2x ABR, max. 2x DF, max. 8x edge counter), edge detection with timestamp (for period duration, gate time measurement, differential time measurement) |
| Multifunction analog inputs MF-AI (std) / Quantity | 4 |
| Multifunction analog inputs MF-AI (std) / Function | Digital input Sink/Source circuit - Configurable per channel, configurable software input filter, fixed or ratiometrically configurable switching threshold. Analog input Measurement range 0 to 10 V / 0 to 32 V / 0/4 to 20 mA, configurable analog filter, configurable ramp limit, configurable threshold values, integrated input protection |
| Multifunction analog inputs MF-AI (AT) / Quantity | 8 |
| Multifunction analog inputs MF-AI (AT) / Function | Digital input (without diagnostics) Sink/Source circuit - Configurable per channel, configurable software input filter, fixed or ratiometrically configurable switching threshold. Digital input (with diagnostics) Configurable software input filter, open-circuit and short-circuit detection. Analog input Measurement range 0 to 10 V / 0 to 32 V / 0/4 to 20 mA / 0 to 4000 Ω / temperature inputs (Pt1000 characteristic curve), configurable analog filter, configurable ramp limit, configurable threshold values, integrated input protection |
| Multifunction analog inputs MF-AI (PVG) / Quantity | 8 |
| Multifunction analog inputs MF-AI (PVG) / Function | Digital input (without diagnostics) Sink/Source circuit - Configurable per channel, configurable software input filter, fixed or ratiometrically configurable switching threshold. Digital input (with diagnostics) Configurable software input filter, open-circuit and short-circuit detection. Analog input Measurement range 0 to 10 V / 0 to 32 V / 0/4 to 20 mA / 0 to 4000 Ω / temperature inputs (Pt1000 characteristic curve), configurable analog filter, configurable ramp limit, configurable threshold values, integrated input protection Ratiometric analog output (smoothed PWM signal) Short-circuit current 5.5 mA max. at 24 V, PWM frequency 25 kHz PVG Short-circuit current 5.5 mA max. at 24 V, PVG frequency 25 kHz. |
Multi-function outputs
| Multifunction digital outputs (MF-DO) / Quantity | 8 |
| Multifunction digital outputs (MF-DO) / Functions | Digital output: 4 A nominal current, source circuit, integrated output protection per channel, configurable overload monitoring per channel, central cutoff via relay, parallel connection, current measurement, error state with configurable error filter. Digital input: Sink/Source circuit configurable per channel, configurable software input filter |
| Multifunction PWM outputs MF-PWM (std) / Quantity | 16 |
| Multifunction PWM outputs MF-PWM (std) / Function | Digital output 4 A nominal current, source circuit, integrated output protection per channel, configurable overload monitoring per channel, central cutoff via relay,parallel connection, current measurement, error state with configurable error filter. PWM output 4 A nominal current, PWM frequency 15 Hz to 1 kHz, source circuit, integrated output protection per channel, configurable overload monitoring per channel, central cutoff via relay, parallel connection, current measurement, configurable switching edge shift to avoid load peaks, dither. Digital input Sink/Source circuit configurable per channel, configurable software input filter |
| Multifunction PWM outputs MF-PWM (bridge) / Quantity | 6 |
| Multifunction PWM outputs MF-PWM (bridge) / Function | Digital output 6 A nominal current, push-pull circuit, integrated output protection per channel, configurable overload monitoring per channel, central cutoff via relay,parallel connection, current measurement, error state with configurable error filter. PWM output 6 A nominal current, PWM frequency 15 Hz to 4 kHz, 8 kHz in full-bridge mode, push-pull circuit, integrated output protection per channel, configurable overload monitoring per channel, central cutoff via relay, parallel connection, current measurement, configurable load current distribution of the PWM outputs, dither. Digital input Sink/Source circuit configurable per channel, configurable software input filter |
Digital inputs
| Input filter / Hardware | MF-DI: 3 µs MF-AI (all): 300 µs MF-DO: 150 µs MF-PWM (bridge): 200 µs MF-PWM (std): 150 µs |
| Input filter / Software | Default 1 ms, configurable between 0 and 25 ms in 0.1 ms increments |
| Quantity | 8 to 60, depends on the use of multifunction inputs/outputs |
| Nominal voltage | 12 / 24 VDC |
| Input voltage | 9 to 32 VDC |
| Input current at 24 VDC | MF-DI (CI + std): Typ. 1.1 / 2.5 mA, configurable MF-AI (AT + PVG): Typ. 1.1 / 5.3 mA, configurable MF-AI (std): Typ. 1.1 mA MF-DO (std): Typ. 2.5 mA MF-PWM (all): Typ. 2.5 mA |
| Input circuit | Sink/Source, configurable |
| Input resistance | MF-DI (CI + std): Typ. 9.15 / 20.2 kΩ, configurable MF-AI (AT + PVG): Typ. 4.42 / 22.1 kΩ, configurable MF-AI (std): Typ. 22 kΩ MF-DO (std): Typ. 9.15 kΩ MF-PWM (all): Typ. 9.15 kΩ |
| Input frequency | MF-DI: Max. 50 kHz |
| Switching threshold | MF-DI: 50% of supply voltage MF-AI (all): Switching threshold and hysteresis configurable with software MF-DO: 40% supply voltage MF-PWM (all): 40% supply voltage |
Analog inputs
| Output format / Data type | INT |
| Output format / Voltage | 0 to 10 V: INT 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 2.441 mV 0 to 32 V: INT 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 7.812 mV |
| Output format / Current | 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 4.883 µA |
| Output format / Resistance | 0 to 4000, resolution 1 Ω |
| Output format / Temperature input | -200 to 850, resolution 0.1°C |
| Input impedance in signal range / Voltage | >100 kΩ |
| Input impedance in signal range / Current | - |
| Load / Voltage | - |
| Load / Current | 100 Ω |
| Max. error / Voltage / Gain | <1.5% |
| Max. error / Voltage / Offset | <1.5% |
| Max. error / Current / Gain | <1.5% |
| Max. error / Current / Offset | <1.5% |
| Max. error / Resistance | <5% |
| Max. error / Temperature input | <5% |
| Max. gain drift / Voltage | <0.03%/°C |
| Max. gain drift / Current | <0.04%/°C |
| Max. gain drift / Resistance | <0.034%/°C |
| Max. gain drift / Temperature input | <0.024%/°C |
| Max. offset drift / Voltage | <0.06%/°C |
| Max. offset drift / Current | <0.06%/°C |
| Max. offset drift / Resistance | <0.018%/°C |
| Max. offset drift / Temperature input | <0.027%/°C |
| Quantity | 0 to 20, depends on the use of multifunction inputs |
| Input | 0 to 10 V / 0 to 32 V / 0/4 to 20 mA / 0 to 4000 Ω / Temperature inputs (Pt1000 characteristic curve) |
| Digital converter resolution | 12-bit |
| Conversion time | 160 μs |
| Measuring current resistance / Temperature input | <2.2 mA |
| Open-circuit detection | From the application |
| Conversion procedure | SAR |
| Input filter | First-order low-pass filter / cutoff frequency of voltage input 350 Hz, current input 200 Hz |
| Nonlinearity | <0.05% (resistance) <0.2% (temperature inputs) |
Sensor power supply
| Voltage | 5/10 V |
| Current | Max. 400 mA ±3% |
Digital outputs
| Switching frequency / Resistive load | MF-DO: Max. 250 Hz |
| Switching frequency / Inductive load | MF-DO: Load current 4 A: Max. 4 mH (see section "Switching inductive loads") |
| Output voltage / Nominal | 9 to 32 VDC |
| Current measurement / Max. error at 25°C / Gain | MF-DO: <12% MF-PWM (bridge): <0.5% MF-PWM (std): <3% |
| Current measurement / Max. error at 25°C / Offset | MF-DO: <1% MF-PWM (bridge): <0.25% MF-PWM (std): <1.5% |
| Current measurement / Current measurement range | MF-DO: 0 to 20 A MF-PWM (bridge): ±10 A MF-PWM (std): 0 to 10 A |
| Current measurement / Resolution | INT MF-DO: INT 0x0000 to 0x7FFF / 1 LSB = 610 µA MF-PWM (bridge): INT 0x8001 to 0x7FFF / 1 LSB = 305 μA MF-PWM (std): INT 0x0000 to 0x7FFF / 1 LSB = 305 μA |
| Current measurement / Max. gain drift | MF-DO: <0.2%/°C MF-PWM (bridge): <0.04%/°C MF-PWM (std): <0.2%/°C |
| Current measurement / Max. offset drift | MF-DO: <0.005%/°C MF-PWM (all): <0.005%/°C |
| Quantity | 0 to 30, depends on the use of multifunction outputs |
| Variant | MF-DO: Current-sourcing sinking FET, channels can be connected in parallel in pairs. MF-PWM (bridge): Current-sourcing/Current-sinking FET, channels can be connected in parallel. MF-PWM (std): Current-sourcing sinking FET, channels can be connected in parallel in pairs. |
| Nominal voltage | 12 / 24 VDC |
| Switching voltage | MF-DO, MF-PWM: V_IO -15% MF-PVG, MF-AI (ratiometric output) : V_CPU - 15% |
| Digital converter resolution | 12-bit |
| Nominal output current | MF-DO: 4 A MF-PWM (bridge): 6 A MF-PWM (std): 4 A |
| Output protection | Thermal shutdown in the event of overcurrent or short circuit. MF-PWM only (all): Integrated protection for switching inductive loads |
| Diagnostic status | Overload |
| Leakage current when the output is switched off | MF-DO: Typ. 10 μA, max. 4.1 mA MF-PWM (bridge): Typ. 20 μA, max. 4.1 mA MF-PWM (std): Typ. 10 μA, max. 4.1 mA |
| RDS(on) | MF-DO: <80 mΩ MF-PWM (all): <50 mΩ |
| Residual voltage | <1 V at 4 A nominal current |
| Peak short-circuit current | MF-DO: 90 A MF-PWM (bridge): 50 A MF-PWM (std): 90 A |
| Braking voltage when switching off inductive loads | MF-DO: Typ. 64 VDC MF-PWM (std): Typ. 64 VDC |
| Switching delay | MF-DO: Max. 150 μs MF-PWM (all): Max. 150 μs |
| Sampling time | MF-DO: 160 μs MF-PWM (bridge): 40 µs MF-PWM (std): 80 μs |
PWM output
| Max. error at 25°C / Gain | MF-PWM (bridge): <0.5% MF-PWM (std): <3% |
| Max. error at 25°C / Offset | MF-PWM (bridge): <0.25% MF-PWM (std): <1.5% |
| Current measurement / Current measurement range | MF-PWM (bridge): ±10 A MF-PWM (std): 10 A |
| Current measurement / Conversion time | MF-PWM (bridge): 40 μs MF-PWM (std): 80 µs |
| Current measurement / Resolution | INT MF-PWM (bridge): INT 0x8001 to 0x7FFF / 1 LSB = 305 μA MF-PWM (std): INT 0x0000 to 0x7FFF / 1 LSB = 305 μA |
| Quantity | MF-PWM (bridge): 0 to 6x 6 A MF-PWM (std): 0 to 16x 4 A Depends on the use of multifunction outputs |
| Nominal voltage | 12 / 24 VDC |
| Supply voltage (permissible range) | 9 to 32 VDC |
| Digital converter resolution | 12-bit |
| PWM frequency | MF-PWM (bridge): 15 Hz to 4 kHz MF-PWM (std): 15 Hz to 1 kHz |
| Duty cycle | PWM (bridge): 0 to 32767 or -32767, min. resolution 160 ns depending on PWM frequency PWM (std): 0 to 32767, min. resolution 160 ns depending on PWM frequency |
| Max. gain drift | MF-PWM (bridge): <0.04%/°C MF-PWM (std): <0.2%/°C |
| Max. offset drift | MF-PWM (all): <0.005%/°C |
| Common mode error | MF-PWM (all): 0.01%/V |
| Output protection | Thermal shutdown in the event of overcurrent or short circuit, integrated protection for switching inductive loads |
| Variant | MF-PWM (bridge): Current-sourcing/Current-sinking FET, channels can be connected in parallel. MF-PWM (std): Channels can be connected in parallel in pairs. |
| Diagnostic status | Overload |
| Peak short-circuit current | 50 A (max. 0.2 ms) |
Status outputs
| Quantity | 1 |
| Variant | Connection A2 - Source |
| RDS(on) | 1.4 Ω |
| Max. continuous current | 20 mA |
Electrical properties
| Summation current / Complete system | Max. 30 A |
| Inrush current | Typ. 500 A for <300 µs |
| Electrical isolation | Ethernet (IF2) and POWERLINK (IF3) isolated from each other and from other interfaces |
Operating conditions
| Mounting orientation / Any | Yes |
| Installation elevation above sea level | Max. 4000 m |
| Degree of protection per EN 60529 | IP69K |
Ambient conditions
| Temperature / Operation / Horizontal mounting orientation | -40 to 85°C housing surface |
| Temperature / Operation / Vertical mounting orientation | -40 to 85°C housing surface |
| Temperature / Derating | See section "Derating". |
| Temperature / Storage | -40 to 85°C |
| Temperature / Transport | -40 to 85°C |
| Relative humidity / Operation | 5 to 100%, condensing |
| Relative humidity / Storage | 5 to 95%, non-condensing |
| Relative humidity / Transport | 5 to 95%, non-condensing |
Mechanical properties
| Dimensions / Width | 225 mm |
| Dimensions / Length | 219.5 mm |
| Dimensions / Height | 43.5 mm |
| Weight | Max. 1740 g |
Brief overview
| Content of delivery | 2x protective covers for unused female M12 connectors |
Documentation & CAD
Files hosted by B&R Industrial Automation; links open the official download page.
Datasheets
Manuals
3D CAD models
ECAD / EPLAN
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Specifications from the official B&R product catalog. Always confirm against the datasheet for your exact revision.