Data Sheet

PLUS+1® XM100 Autonomous Controller

Powerful data processing
The XM100 Autonomous Controller provides the highprocessing power required for state-of-the-art
autonomous mobile machines. This controller isdesigned to meet the needs of autonomous machines
by interfacing with GNSS, LiDAR, Radar and inertial
sensors and performing autonomous navigation
tasks. Ethernet and CAN connectivity allow thecontroller to manage complex tasks and commandmachine sub-systems, such as propel, steering andwork function.
Product highlights
The controller includes a powerful quad-core i.MX 6
platform with a Linux OS operating at 1.0 GHz. It has
8GB of flash and 2GB of DDR3 RAM to execute large,
complex autonomous applications. This central
processing unit delivers the power that will drive thefuture of your autonomous machine development.
Application development®

Users develop applications with PLUS+1 platformthat enables novice programmers to quickly develop®
advanced applications. The PLUS+1 Autonomous
Control Library works seamlessly with the controller
to enable autonomous machine functionality. PLUS®
®
®
+1 GUIDE is a Microsoft Windows based
development environment and features a userfriendly, field-proven, graphical programming tool,
application downloader, and service/diagnostic tool.

Features

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®

Programmable with PLUS+1 GUIDE
2 x 12-pin DEUTSCH DTP connectors
Processor: i.MX 6 QuadPlus, 1.0 GHZ
8 GB flash, 2 GB DDR3 RAM
4 CAN ports
4-wire Ethernet port (10/100)
Audio out
2 RGB LEDs
6-Axis Inertial Measurement Unit© Danfoss | July 2024

• GNSS Receiver position accuracy 1.5m
•
•
•

CEP50
5 Vdc sensor supply output
9 to 36 Vdc power supply, monitoredinternally
Wake over digital input

Comprehensive technical literature isonline at www.danfoss.com

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Data Sheet
XM100 Autonomous Controller

8 inputs• 4 universal (DIN/AIN/FreqIn/Rheo/4-20 mA) that are user-defined as either:‒ Analog: with configurable ranges 0 to 5.25 Vdc (with over range protection) or 0 to 36 Vdc;
‒ Digital: pull up (5 Vdc), pull down (0 Vdc), or pull to center (2.5 Vdc);‒ Frequency: (timing) 1 Hz to 10 kHz‒ Rheostat: (Resistance) from 0 to 1000 Ohm‒ Current: 4 to 20 mA• 2 digital/analog (DIN/AIN) that are user-defined as either:‒ Analog: 0 to 5.25 Vdc or 0 to 36 Vdc‒ Digital: pull up (5 Vdc), pull down (0 Vdc), or pull to center (2.5 Vdc);• Ignition Input (K15)• Wake Input (DigIn)
5 outputs• 4 digital (Sinking DOUT) 500 mA• Sensor Supply (+5 Vdc)
Technical Specifications
Processor

i.MX6

Supply Voltage

9-36 Vdc

Connector

DEUTSCH DTM06-12SA

IP Rating

IP66 and IP67 front and backOperating Temperature-30°C to +70°C [-22°F to 158°F]

Storage Temperature-40°C to +85°C [-40°F to 185°F]

Vibration/Shock

IEC 60068-2-64 (7.67g) /2-27 (50g)

EMI/RFI Rating

100 V/mHumidity

IEC 60068-2-78, 60068-2-30

Transients

ISO 7637/1, 2, 3Certifications

FCC, IC, RCM, RoHS

FL

ANGE]

Pin locations and controller dimensionsMAX.

RGB LEDREW

RGB LED4X
OU 1NT 8IN
GSC

288,72X

15[M8268

4X

9,2181160

C5C1PIN 6PIN 1C3C2C4C9SEALING PLUGS*DO NOT REMOVE

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Data Sheet
XM100 Autonomous Controller

C1 - DEUTSCH DTM06-12SA, 12 pin
Pin 1

Pin 6

Pin 12

Pin 7

C3 - M12 4 pin, USB Device, "A" keyC1 pinFunction

1Power ground -C3 PinFunction1

Device data +2

Device data -3

Device Vbus

4Ground2

Power supply +3

CAN 0+

4

CAN 0-

5Anin / CAN shield

6CAN 1+

7

CAN 1-

8Sensor supply out (+5 V)

9

K15 ignition input (digital input)

10

Multifunction input (Digin/Anin/Freq/4-20mA/Rheostat)

C4 PinFunction

1

Host data +11

Multifunction input (Digin/Anin/Freq/4-20mA/Rheostat)2

Host data -3Host Vbus

4Ground

12

Digital out (0.5A sinking)C2 - DEUTSCH DTM06-12SB, 12 pin, "B" key
Pin 1

Pin 6

Pin 12Pin 7

C4 - M12 4 pin, USB Host, "D" keyC5 – GNSS antenna SMA coaxial

C2 pinFunction1

Sensor ground2

Digital out (0.5A sinking)3

CAN 2+C5 PinFunction

4

CAN 2-Threads

Ground5Anin / CAN shield

PinSignal

6

CAN 3+

7

CAN 3-8

Multifunction input (Digin/Anin/
Freq/4-20mA/Rheostat)

9

Multifunction input (Digin/Anin/
Freq/4-20mA/Rheostat)10

Wake input (digital input)

11

Digital out (0.5A sinking)C8 PinFunction

12Digital out (0.5A sinking)

1

TxD+

2

RxD+

3

TxD-

4RxD-

© Danfoss | July 2024

Antenna must be installed properly to the machine to avoid
interference and to ensure the line of site to the sky.

C8 - M12 5 pin female, Ethernet, "D" keyAI379058006235en-000202 | 3

C9 - M12 8 pin female, Stereo, "A" key

C9 PinFunction

1

TxD

2

RxD

3

Ground4NC

5Left channel

6Right channel

7

Ground8NC

Product part number11283139

XM100 Autonomous ControllerRelated products part numbers
Connector kit
10100944

DEUTSCH 12-pin Connector Kit (DTM06-12SA)

Connection tools
10100744

DEUTSCH stamped contacts terminal crimp tool, size
2010100745

DEUTSCH solid contacts terminal crimp tool

Cable kit
11231512

Cable, M12 4-pin to USB device (2m)11130713

Cable, M12 8-Pin to Lead Wires (1.5m)

11130712

Cable, M12 5-Pin to Lead Wires (1.5m)

Antenna
11283266

External GNSS Antenna (5m)Software11179523 (renew annually with11179524 to keep softwareupdates)®

PLUS+1 GUIDE Professional
Software (includes 1 year ofsoftware updates, a single user
license, Service and Diagnostic tooland Screen Editor)

Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products
already on order provided that such alterations can be made without subsequent changes being necessary in specifications already agreed.
All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.

4 | © Danfoss | July 2024

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