REAL PINOUT · HARNESS TERMINALS · SAFETY CHANNELS
R25 A方案真实针脚分配与第一版完整线束端子表
边界：针脚“功能能力”来自Danfoss官方数据表；把S01–S16和A01–A12放到哪个可用针位属于R25初步工程分配。安全针脚分配本身不代表完成AgPL/SIL认证；最终控制器版本、传感器电气制式、阀线圈和底盘结构确定后仍需复核。
一、MC050叶料ECU针脚
| Tag | 真实针脚 | 官方功能 | R25分配 | 信号 | 状态 |
|---|---|---|---|---|---|
| PWR-GND | C1-P1 | Power ground - | RES ECU power ground | POWER | VERIFIED_PIN |
| PWR+1 | C1-P2 | Power supply + | 24 V protected RES ECU supply | POWER | VERIFIED_PIN |
| CAN0-H | C1-P3 | CAN0 + | CAN-A high | CAN | VERIFIED_PIN |
| CAN0-L | C1-P4 | CAN0 - | CAN-A low | CAN | VERIFIED_PIN |
| CAN0-SH | C1-P5 | AIN/CAN0 shield | CAN-A shield / hardware-specific EMC use | CAN/SHIELD | VERIFIED_PIN |
| S09 | C1-P18 | DIN/AIN | hood angle/position feedback | ANALOG/DIGITAL | PRELIMINARY_ASSIGNMENT |
| S10 | C1-P19 | DIN/AIN | collection-chamber pressure feedback | ANALOG | PRELIMINARY_ASSIGNMENT |
| CAN1-H | C1-P20 | CAN1 + | CAN-B / service-information bus high | CAN | VERIFIED_PIN |
| CAN1-L | C1-P21 | CAN1 - | CAN-B / service-information bus low | CAN | VERIFIED_PIN |
| CAN1-SH | C1-P22 | AIN/CAN1 shield | CAN-B shield / hardware-specific EMC use | CAN/SHIELD | VERIFIED_PIN |
| S03 | C1-P23 | DIN/AIN | conveyor hydraulic inlet pressure | ANALOG | PRELIMINARY_ASSIGNMENT |
| S04 | C1-P24 | DIN/AIN | conveyor hydraulic outlet pressure | ANALOG | PRELIMINARY_ASSIGNMENT |
| S01 | C1-P25 | DIN/AIN/FreqIN | pickup roller speed | FREQUENCY | PRELIMINARY_ASSIGNMENT |
| S02 | C1-P26 | DIN/AIN/FreqIN | main conveyor roller speed | FREQUENCY | PRELIMINARY_ASSIGNMENT |
| S05 | C1-P27 | DIN/AIN/FreqIN | coarse cutter speed | FREQUENCY | PRELIMINARY_ASSIGNMENT |
| S06 | C1-P28 | DIN/AIN/FreqIN | fine shredder speed | FREQUENCY | PRELIMINARY_ASSIGNMENT |
| S07 | C1-P29 | DIN/AIN/FreqIN | main cleaning fan speed | FREQUENCY | PRELIMINARY_ASSIGNMENT |
| S08 | C1-P30 | DIN/AIN/FreqIN | conditioned fan/cleaning load feedback | ANALOG/FREQUENCY | PRELIMINARY_ASSIGNMENT |
| S11 | C1-P31 | AIN/Temp/Rheo | conditioned bin load/level signal | ANALOG | PRELIMINARY_ASSIGNMENT |
| SPARE-IN | C1-P32 | AIN/Temp/Rheo | reserve bin/temperature/rheostat input | ANALOG | RESERVE |
| A07-A | C1-P33 | DOUT | hood actuator direction A | DIGITAL_OUTPUT | PRELIMINARY_ASSIGNMENT |
| A07-B | C1-P34 | DOUT | hood actuator direction B | DIGITAL_OUTPUT | PRELIMINARY_ASSIGNMENT |
| A08-A | C1-P35 | DOUT | vent/relief actuator open | DIGITAL_OUTPUT | PRELIMINARY_ASSIGNMENT |
| A08-B | C1-P36 | DOUT | vent/relief actuator close | DIGITAL_OUTPUT | PRELIMINARY_ASSIGNMENT |
| A09 | C1-P37 | DOUT | cross-transfer conveyor enable / local driver command | DIGITAL_OUTPUT | PRELIMINARY_ASSIGNMENT |
| A10 | C1-P38 | DOUT | bin-unload enable / local sequencer command | DIGITAL_OUTPUT | PRELIMINARY_ASSIGNMENT |
| A12 | C1-P39 | DOUT/PVG Pwr | alarm/lamp relay command or PVG reference power | DIGITAL_OUTPUT | PRELIMINARY_ASSIGNMENT |
| SPARE-OUT | C1-P40 | DOUT/PVG Pwr | reserve / PVG reference power | DIGITAL_OUTPUT | RESERVE |
| A01 | C1-P41 | PWMOUT/DOUT/PVGOUT | pickup/feed speed command | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| A02 | C1-P42 | PWMOUT/DOUT/PVGOUT | main conveyor speed/direction command to proportional valve or smart driver | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| A03 | C1-P43 | PWMOUT/DOUT/PVGOUT | roller-gap actuator command | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| A04 | C1-P44 | PWMOUT/DOUT/PVGOUT | coarse cutter command | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| A05 | C1-P45 | PWMOUT/DOUT/PVGOUT | fine shredder / bypass command | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| A06 | C1-P46 | PWMOUT/DOUT/PVGOUT | main cleaning fan speed command | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| PWR+2 | C1-P47 | Power supply + | 24 V protected RES ECU supply | POWER | VERIFIED_PIN |
| PWR+3 | C1-P48 | Power supply + | 24 V protected RES ECU supply | POWER | VERIFIED_PIN |
| PWR+4 | C1-P49 | Power supply + | 24 V protected RES ECU supply | POWER | VERIFIED_PIN |
| PWR+5 | C1-P50 | Power supply + | 24 V protected RES ECU supply | POWER | VERIFIED_PIN |
| SNS-5V | C1-P8 | 5 Vdc sensor power + | 5 V sensor supply subject to total 500 mA limit | SENSOR_POWER | VERIFIED_PIN |
| SNS-GND | C1-P9 | Sensor power ground - | analog sensor reference ground | SENSOR_GROUND | VERIFIED_PIN |
特别限制：P33/P34、P35/P36、P37/P38、P39/P40为成对限流资源。25°C时每对合计最高6A，70°C时每对合计最高4A；不能简单按“每针3A”同时满载。感性阀线圈还必须检查关断能量。
二、MC024底盘/调平ECU针脚
| Tag | 真实针脚 | 官方功能 | R25分配 | 信号 | 状态 |
|---|---|---|---|---|---|
| PWR-GND | C1-P1 | Power ground - | CHS ECU ground | POWER | VERIFIED_PIN |
| PWR+1 | C1-P2 | Power supply + | 24 V protected CHS ECU supply | POWER | VERIFIED_PIN |
| CAN-H | C1-P3 | CAN + | CAN-A high; S12 IMU/GNSS messages may arrive here | CAN | VERIFIED_PIN |
| CAN-L | C1-P4 | CAN - | CAN-A low; S12 IMU/GNSS messages may arrive here | CAN | VERIFIED_PIN |
| CAN-SH | C1-P5 | AIN/CAN shield | CAN shield / optional analog according to final network EMC design | CAN/SHIELD | VERIFIED_PIN |
| SPARE-DIN1 | C1-P6 | DIN | reserve chassis digital input | DIGITAL_INPUT | RESERVE |
| SPARE-DIN2 | C1-P7 | DIN | reserve chassis digital input | DIGITAL_INPUT | RESERVE |
| SNS-5V | C1-P8 | 5 Vdc sensor power + | level-position / speed sensor supply subject to 200 mA total | SENSOR_POWER | VERIFIED_PIN |
| SNS-GND | C1-P9 | Sensor power ground - | chassis sensor reference ground | SENSOR_GROUND | VERIFIED_PIN |
| S13-L | C1-P10 | DIN/AIN/FreqIN | left / primary leveling-cylinder position | ANALOG | PRELIMINARY_ASSIGNMENT |
| S13-R | C1-P11 | DIN/AIN/FreqIN | right / secondary leveling-cylinder position | ANALOG | PRELIMINARY_ASSIGNMENT |
| S14 | C1-P12 | DIN/AIN/FreqIN | wheel/track speed frequency input; GNSS speed may also arrive via CAN | FREQUENCY | PRELIMINARY_ASSIGNMENT |
| SPARE-IN1 | C2-P1 | DIN/AIN/FreqIN | reserve extra cylinder/steering sensor | ANALOG/FREQUENCY | RESERVE |
| SPARE-IN2 | C2-P2 | DIN/AIN/FreqIN | reserve extra cylinder/steering sensor | ANALOG/FREQUENCY | RESERVE |
| A11-L | C2-P3 | PWMOUT/DOUT/PVGOUT | left leveling proportional spool command | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| A11-R | C2-P4 | PWMOUT/DOUT/PVGOUT | right leveling proportional spool command | PWM/PVG | PRELIMINARY_ASSIGNMENT |
| A11-EXT1 | C2-P5 | PWMOUT/DOUT/PVGOUT | reserve front/rear or extra leveling channel | PWM/PVG | RESERVE |
| A11-EXT2 | C2-P6 | PWMOUT/DOUT/PVGOUT | reserve front/rear or extra leveling channel | PWM/PVG | RESERVE |
| SPARE-OUT1 | C2-P7 | PWMOUT/DOUT/PVGOUT | reserve | PWM/PVG | RESERVE |
| SPARE-OUT2 | C2-P8 | PWMOUT/DOUT/PVGOUT | reserve | PWM/PVG | RESERVE |
| SPARE-OUT3 | C2-P9 | PWMOUT/DOUT/PVGOUT | reserve | PWM/PVG | RESERVE |
| SPARE-OUT4 | C2-P10 | PWMOUT/DOUT/PVGOUT | reserve | PWM/PVG | RESERVE |
| PWR+2 | C2-P11 | Power supply + | 24 V protected CHS ECU supply | POWER | VERIFIED_PIN |
| PWR+3 | C2-P12 | Power supply + | 24 V protected CHS ECU supply | POWER | VERIFIED_PIN |
三、SC024安全针脚
| Tag | 真实针脚 | 官方功能 | R25分配 | 信号 | 状态 |
|---|---|---|---|---|---|
| PWR-GND | C1-P1 | Power ground - | Safety controller ground | POWER | VERIFIED_PIN |
| PWR+ | C1-P2 | Power supply + | independent protected safety-control supply | POWER | VERIFIED_PIN |
| CAN-H | C1-P3 | CAN0 + | diagnostic/safety-status CAN high; not sole safety path | CAN | VERIFIED_PIN |
| CAN-L | C1-P4 | CAN0 - | diagnostic/safety-status CAN low; not sole safety path | CAN | VERIFIED_PIN |
| CAN-SH | C1-P5 | DIN/AIN/CAN shield | CAN shield / optional monitored input subject to safety design | CAN/INPUT | VERIFIED_PIN |
| SAFE-SPARE1 | C1-P6 | DIN/AIN/SnsrPwr1.6Vdc | reserve smart safety input / sensor function | SAFETY_INPUT | RESERVE |
| SAFE-SPARE2 | C1-P7 | DIN/AIN/SnsrPwr3.3Vdc | reserve smart safety input / sensor function | SAFETY_INPUT | RESERVE |
| SNS-3-12V | C1-P8 | 3-12 Vdc SnsrPwr + | safety-sensor supply if required | SENSOR_POWER | VERIFIED_PIN |
| SNS-GND | C1-P9 | SnsrPwr - | safety-sensor reference ground | SENSOR_GROUND | VERIFIED_PIN |
| S16-A | C1-P10 | DIN/AIN/ResIN/CrntIN | E-stop channel A | SAFETY_INPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
| S16-B | C1-P11 | DIN/AIN/ResIN/CrntIN | E-stop channel B | SAFETY_INPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
| S15-A | C1-P12 | DIN/AIN/ResIN/CrntIN | guard/interlock channel A | SAFETY_INPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
| S15-B | C2-P1 | DIN/AIN/ResIN/CrntIN | guard/interlock channel B | SAFETY_INPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
| SAFE-SPARE3 | C2-P2 | DIN/AIN/FreqIN | reserve redundant tilt / speed safety input | SAFETY_INPUT | RESERVE |
| SAFE-SPARE4 | C2-P3 | DIN/AIN/FreqIN | reserve | SAFETY_INPUT | RESERVE |
| SAFE-SPARE5 | C2-P4 | DIN/AIN/FreqIN | reserve | SAFETY_INPUT | RESERVE |
| SAFE-SPARE6 | C2-P5 | DIN/AIN/FreqIN | reserve | SAFETY_INPUT | RESERVE |
| SAFE-SPARE7 | C2-P6 | DIN/AIN/FreqIN | reserve | SAFETY_INPUT | RESERVE |
| SAFE-SPARE8 | C2-P7 | DIN/AIN/ResIN/CrntIN | reserve monitored safety input | SAFETY_INPUT | RESERVE |
| SAFE-SPARE9 | C2-P8 | DIN/AIN/ResIN/CrntIN | reserve monitored safety input | SAFETY_INPUT | RESERVE |
| SAFE-EN-A | C2-P9 | PWMOUT/CrntOUT/DOUT/PVGOUT | Safety Enable channel A | SAFETY_OUTPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
| SAFE-EN-B | C2-P10 | PWMOUT/CrntOUT/DOUT/PVGOUT | Safety Enable channel B | SAFETY_OUTPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
| UNLOAD-INH | C2-P11 | PWMOUT/CrntOUT/DOUT/PVGOUT | safety unload inhibit / permit output | SAFETY_OUTPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
| CUT-INH | C2-P12 | PWMOUT/CrntOUT/DOUT/PVGOUT | cutter/conveyor hazardous-drive inhibit / permit output | SAFETY_OUTPUT | PRELIMINARY_SAFETY_ASSIGNMENT |
R25暂把急停和护罩设计成双通道，并用C2-P9/P10输出Safety Enable A/B；真正的诊断脉冲、交叉短路监控、EDM/反馈、重启逻辑和所需AgPL必须在安全需求规格中确定。
四、线束端子/线号表
| 线号 | 起点 | 终点 | 功能 | 信号 | 线径初筛 | 特别说明 |
|---|---|---|---|---|---|---|
| W-S01 | pickup speed sensor | MC050 C1-P25 | S01 pickup speed | frequency | 20–22 AWG signal | twisted/shielded if sensor/manual requires |
| W-S02 | main conveyor speed sensor | MC050 C1-P26 | S02 conveyor speed | frequency | 20–22 AWG signal | used by PRE_BLOCK/BLOCK |
| W-S03 | hydraulic inlet pressure sensor | MC050 C1-P23 | S03 inlet pressure | 0–5 V or conditioned voltage | 20–22 AWG signal | 4–20 mA requires conditioner/shunt design |
| W-S04 | hydraulic outlet pressure sensor | MC050 C1-P24 | S04 outlet pressure | 0–5 V or conditioned voltage | 20–22 AWG signal | 4–20 mA requires conditioner/shunt design |
| W-S05 | coarse cutter speed sensor | MC050 C1-P27 | S05 coarse cutter speed | frequency | 20–22 AWG signal | |
| W-S06 | fine shredder speed sensor | MC050 C1-P28 | S06 fine shredder speed | frequency | 20–22 AWG signal | |
| W-S07 | fan speed sensor | MC050 C1-P29 | S07 fan speed | frequency | 20–22 AWG signal | |
| W-S08 | fan load transducer / drive | MC050 C1-P30 | S08 load feedback | conditioned analog/frequency | 20–22 AWG signal | CAN alternative allowed |
| W-S09 | hood position sensor | MC050 C1-P18 | S09 hood position | analog/digital | 20–22 AWG signal | closed-loop mode confirmation |
| W-S10 | collection chamber pressure sensor | MC050 C1-P19 | S10 chamber pressure | analog | 20–22 AWG signal | |
| W-S11 | bin load/level conditioner | MC050 C1-P31 | S11 bin load/level | conditioned analog | 20–22 AWG signal | raw bridge load cell requires amplifier |
| W-S12 | IMU/inclinometer | MC024 C1-P3/P4 CAN | S12 roll/pitch | CAN | twisted CAN pair | direct analog alternative not frozen |
| W-S13L | left leveling position sensor | MC024 C1-P10 | S13 left position | analog | 20–22 AWG signal | |
| W-S13R | right leveling position sensor | MC024 C1-P11 | S13 right position | analog | 20–22 AWG signal | |
| W-S14 | wheel/track speed sensor | MC024 C1-P12 | S14 local vehicle speed | frequency | 20–22 AWG signal | GNSS speed may also arrive via CAN |
| W-S15A | guard switch channel A | SC024 C1-P12 | S15 guard A | safety digital/monitored | 16–20 AWG safety circuit candidate | final diagnostic wiring per safety design |
| W-S15B | guard switch channel B | SC024 C2-P1 | S15 guard B | safety digital/monitored | 16–20 AWG safety circuit candidate | final diagnostic wiring per safety design |
| W-S16A | E-stop channel A | SC024 C1-P10 | S16 E-stop A | safety digital/monitored | 16–20 AWG safety circuit candidate | independent safety chain |
| W-S16B | E-stop channel B | SC024 C1-P11 | S16 E-stop B | safety digital/monitored | 16–20 AWG safety circuit candidate | independent safety chain |
| W-A01 | MC050 C1-P41 | feed proportional valve/driver | A01 feed speed | PWM/PVG | 16–18 AWG candidate | final by coil current/length |
| W-A02 | MC050 C1-P42 | conveyor proportional directional driver | A02 conveyor command | PWM/PVG | 16–18 AWG candidate | two-coil valve needs extra physical output or local driver |
| W-A03 | MC050 C1-P43 | roller-gap actuator/valve | A03 gap command | PWM/PVG | 16–18 AWG candidate | |
| W-A04 | MC050 C1-P44 | coarse cutter driver/valve | A04 coarse cutter | PWM/PVG | 16–18 AWG candidate | ECU output is command, not main motor power |
| W-A05 | MC050 C1-P45 | fine shredder driver/valve | A05 fine shredder | PWM/PVG | 16–18 AWG candidate | ECU output is command, not main motor power |
| W-A06 | MC050 C1-P46 | fan driver/valve | A06 fan speed | PWM/PVG | 16–18 AWG candidate | ECU output is command, not fan motor power |
| W-A07A | MC050 C1-P33 | hood valve/actuator A | A07 hood A | DOUT | 16–18 AWG candidate | paired output loading must be checked |
| W-A07B | MC050 C1-P34 | hood valve/actuator B | A07 hood B | DOUT | 16–18 AWG candidate | paired with C1-P33 |
| W-A08A | MC050 C1-P35 | vent actuator open | A08 vent open | DOUT | 16–18 AWG candidate | paired output loading must be checked |
| W-A08B | MC050 C1-P36 | vent actuator close | A08 vent close | DOUT | 16–18 AWG candidate | paired with C1-P35 |
| W-A09 | MC050 C1-P37 | cross conveyor local driver | A09 cross conveyor | DOUT | 16–18 AWG candidate | external motor driver required for high-power electric motor |
| W-A10 | MC050 C1-P38 | bin unload local sequencer/valve | A10 unload | DOUT | 16–18 AWG candidate | bidirectional actuator may require extra output/local node |
| W-A11L | MC024 C2-P3 | left leveling spool | A11 left leveling | PWM/PVG | 16–18 AWG candidate | |
| W-A11R | MC024 C2-P4 | right leveling spool | A11 right leveling | PWM/PVG | 16–18 AWG candidate | C2-P5/P6 reserved if 4-corner leveling adopted |
| W-A12 | MC050 C1-P39 | alarm lamp/horn relay | A12 alarm | DOUT | 16–18 AWG candidate | use relay/driver if load exceeds output limits |
| W-SAFE-A | SC024 C2-P9 | hazardous-drive enable A | Safety Enable A | safety output | 16–20 AWG candidate | final safety architecture validation required |
| W-SAFE-B | SC024 C2-P10 | hazardous-drive enable B | Safety Enable B | safety output | 16–20 AWG candidate | final safety architecture validation required |
五、几个不能直接接的地方
- 原始应变桥式称重传感器必须经过称重放大器/信号调理后再进MC050。
- 如果压力传感器是4–20mA，MC050需要适当的电流-电压转换/调理；不要直接当普通电压输入接线。
- 刀辊、风机和横向输送的大功率电机不能由ECU输出针直接供主功率，ECU只给阀、驱动器或接触器命令。
- A02若采用两个独立线圈实现正反转，需要第二个输出或局部驱动器；当前P42方案假设比例方向阀/PVG/智能驱动。
六、余量资源
| 控制器 | 资源 | 能力 | 预留用途 |
|---|---|---|---|
| MC050 | C1-P6/P7/P10–P17 | DIN | future discrete sensors, guards, service switches |
| MC050 | C1-P32 | AIN/Temp/Rheo | second bin load / temperature / rheostat |
| MC050 | C1-P40 | DOUT/PVG Pwr | PVG reference or additional local enable |
| MC024 | C1-P6/P7 | DIN | chassis discrete inputs |
| MC024 | C2-P1/P2 | DIN/AIN/FreqIN | additional cylinder / steering sensors |
| MC024 | C2-P5–P10 | PWMOUT/DOUT/PVGOUT | 4-corner leveling or future chassis actuators |
| SC024 | C1-P6/P7, C2-P2–P8 | mixed monitored inputs | redundant slope, speed, seat/guard or safety diagnostics after risk analysis |
| SC024 | C2-P11/P12 | safety outputs | used in R25 as unload inhibit and cutter/conveyor inhibit; reallocate only through safety review |