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Jetter JXM-IO-E31 User Manual

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  • Page 1 User Manual JXM-IO-E31 Expansion Module 60885291_00 We automate your success.
  • Page 2 Revisions and further development of our products are not automatically mentioned in a reviewed document. Jetter AG shall not be liable for errors in form or content, or for missing updates, as well as for damages or disadvantages resulting from such failure.

  • Page 3: Table Of Contents

    Jetter AG Table of contents Table of contents 1 Introduction ............................ 5 Information on this document ....................... 5 Typographical conventions...................... 5 2 Safety .............................. 6 General information........................ 6 Purpose ............................ 6 2.2.1 Intended use........................ 6 2.2.2 Usage other than intended .................... 6 Warnings used in this document .................... 6 3 Product description ..........................
  • Page 4 Jetter AG Table of contents 7 Programming.............................  25 Performing an OS update via JetEasyDownload ............... 25 Setting the node ID........................ 26 Concept and control ........................ 26 7.3.1 Configuration options of connections ................ 27 7.3.2 Available interfaces, parameters, values and statuses .......... 28 Service Data Objects (SDO) ...................... 36 7.4.1...

  • Page 5: Introduction

    For information on new revisions of this document, visit the download area on our website. This document is not subject to any updating service. Start | Jetter - We automate your success. For further information refer to the following information products: ■...

  • Page 6: Safety

    Jetter AG Safety | 2 2 Safety 2.1 General information When placed on the market, this product corresponds to the current state of sci- ence and technology. In addition to the operating instructions, the laws, regulations and guidelines of the country of operation or the EU apply to the operation of the product. The op- erator is responsible for compliance with the relevant accident prevention regula- tions and generally accepted safety rules.

  • Page 7: Product Description

    Product description | 3 3 Product description The expansion module JXM-IO-E31 is the universal building block for remote I/ Os on self-propelled machines. With its balanced I/O configuration, it can handle almost all remote tasks and is particularly suitable for controlling brushed DC mo- tors in self-propelled machines.

  • Page 8: Diagnostics Capabilities By Means Of Status Indication

    Jetter AG Product description | 3 3.3 Diagnostics capabilities by means of status indication The module is equipped with 2 LEDs to indicate various states and errors. Color Blinking pattern Description Operating voltage is present. Neither boot Permanently ON loader nor OS are running.

  • Page 9: Nameplate

    Jetter AG Product description | 3 3.4 Nameplate Fig. 2: Sample nameplate Logo Certification mark Registration number and hardware revision Barcode Serial number Model code number 3.5 Scope of delivery Scope of delivery Item number Quantity JXM-IO-E31-G20-K00 10001911 JXM-IO-E31-G20-K00-O01 10002075 Model with CAN IN/OUT and extended...

  • Page 10: Technical Specifications

    Jetter AG Technical specifications | 4 4 Technical specifications This chapter contains information on electrical and mechanical data, as well as on operating data of the JXM-IO-E31. 4.1 Dimensions 43.1 38.4 18.6 93.5 Fig. 3: Dimensions in mm 4.2 Environmental conditions...

  • Page 11: Electrical Properties

    Jetter AG Technical specifications | 4 4.3 Electrical properties Power supply of Parameters Description output drivers Abbreviation VBAT_PWR Total current Max. 24 A Operating voltage 8 … 32 V DC Protection against polarity Max. 32 V reversal There is a danger of a short circuit if the polarity is reversed.

  • Page 12: Emc Values

    4.6 Inputs Within the operating voltage range, all inputs are voltage-proof and overcurrent protected. The JXM-IO-E31 has 2 separate VEXT_SEN connector pins which should be used to supply the sensors. The connector pins output the battery volt- age via a PTC thermistor. The output voltage can be read back in the device so that a failure of the sensor supply can be detected.

  • Page 13: Tab. 10 Analog Inputs

    -45 °C ... +820 °C Resolution and Accuracy (Only for ±10 °C JXM-IO-E31-G20-K00-O01) Terminal/connection Between AI_PT1000 and GND_PT1000 Tab. 11: AI_PT1000 INFO Note that the extended measuring range of the PT1000 input only applies to the JXM-IO-E31-G20-K00-O01 variant. jxm-io-e31_ba_1052_manual 13 / 59...

  • Page 14: Tab. 12 Digital Inputs Di_1

    Jetter AG Technical specifications | 4 All digital inputs are PNP inputs. All outputs can also be used with restrictions as simple digital NPN or PNP inputs. Digital inputs Parameters Description Digital inputs with frequency measurement Abbreviation Quantity 8 pcs.

  • Page 15: Outputs

    Jetter AG Technical specifications | 4 4.7 Outputs Output Parameters Description PWMi_H3 High-side PWM output with precise current diagnostics Abbreviation PWMi_H3 Quantity 4 pcs. Peak Current 3 A per channel Load range 0.2 A ... 3 A per channel Properties...

  • Page 16: Tab. 15 Outputs Pwmi_Hl5_1

    Jetter AG Technical specifications | 4 Output Parameters Description PWMi_HL5 PWM half-bridges up to 5 A with current monitoring Abbreviation PWMi_HL5 Quantity 4 pcs. Peak Current 5 A per channel Load range 0.02 A ... 5 A per channel Properties...

  • Page 17: Current Diagnostics At The Outputs

    Jetter AG Technical specifications | 4 Parameters Description Output for supplying sensors. Sensor output Abbreviation VEXT_SEN VEXT_SEN Quantity 2 pcs. Measurement accuracy (voltage) Properties Protected against short circuit Tab. 17: Sensor output VEXT_SEN Parameters Description Abbreviation VREF_10V Outputs Quantity 1 pcs.

  • Page 18: Overcurrent Shutdown At Outputs

    Jetter AG Technical specifications | 4 4.7.2 Overcurrent shutdown at outputs If overcurrent flows through an output for 500 ms (default value), the overcurrent shutdown becomes active. This value can be changed using the parameter OVERCURRENT_TIME. If an overcurrent event occurs, the output shuts down and the overcurrent bit is set for 10 seconds.

  • Page 19: Mechanical Installation

    Jetter AG Mechanical installation | 5 5 Mechanical installation Risk of burns WARNING Contact with hot surface may cause burns. ► Take protective measures to prevent inadvertent contact with the device. ► Allow the device to cool down for some time before you start working on it.

  • Page 20: Mounting Orientation

    Jetter AG Mechanical installation | 5 5.1 Mounting orientation 5.1.1 Allowed mounting orientations Fig. 5: Allowed mounting orientations jxm-io-e31_ba_1052_manual 20 / 59...

  • Page 21: Prohibited Mounting Orientations

    Jetter AG Mechanical installation | 5 5.1.2 Prohibited mounting orientations Any orientation where the connector plug is not protected against splash water or condensation is prohibited. Fig. 6: Prohibited mounting orientation Ingress of moisture in the case of incorrect mounting orientation NOTICE ►...

  • Page 22: Electrical Connection

    Jetter AG Electrical connection | 6 6 Electrical connection Signal interferences in CAN wiring WARNING Faulty communication due to unshielded or incorrectly twisted CAN lines result- ing in extreme cases in personal injury due to malfunction of the device. ►...

  • Page 23: Connector Specification

    Jetter AG Electrical connection | 6 6.1 Connector specification 6.1.1 MOLEX connector - Pin assignment Danger of short circuit if battery polarity is reversed WARNING Inadequate fuse protection can lead to a short circuit if the polarity of the battery is reversed.

  • Page 24: Molex Connector - Pin Assignment

    Jetter AG Electrical connection | 6 MOLEX connector - Pin assignment n.c. n.c. CAN_H_OUT CAN1_H (JXM-IO-E31-G20- n.c. AI_1 CAN_L_OUT CAN1_L K00-O01) n.c. AI_2 DI_1 PWMi_HL5_1 n.c. AI_3 DI_2 PWMi_HL5_2 PWMi_H3_1 AI_4 DI_3 PWMi_HL5_3 PWMi_H3_2 AI_5 DI_4 PWMi_HL5_4 PWMi_H3_3 AI_6 GND_SEN...

  • Page 25: Programming

    7 Programming 7.1 Performing an OS update via JetEasyDownload To update the operating system of a JXM-IO-E31 use a Peak CAN dongle and the command line tool JetEasyDownload (version 1.00.0.15 or higher) by Jetter. Alternatively, you can update the device from a controller by Jetter.

  • Page 26: Setting The Node Id

    7.3 Concept and control The concept of the JXM-IO-E31 is based on the assignment of interfaces to the inputs and out- puts of the device. Each input and output of the device is called a port and can be configured.

  • Page 27: Configuration Options Of Connections

    Jetter AG Programming | 7 7.3.1 Configuration options of connections The table below shows an overview of the ports and the respective interfaces: Ports Description Supported interfaces AI_1 … AI_6 Multifunctional input INACTIVE 0 … 24 mA or 0 …10 V...

  • Page 28: Available Interfaces, Parameters, Values And Statuses

    Jetter AG Programming | 7 7.3.2 Available interfaces, parameters, values and statuses INFO Restrictions The following restrictions must be observed in the Operational and Pre- Operational states: ■ You can only assign an interface in the Pre-Operational state during the startup process.
  • Page 29 Jetter AG Programming | 7 ID Interface Parameters Values Status 6 PWMO_HS3 PWM_FREQUENCY O_DUTY_CYCLE OVERCURRENT High-side PWM DITHER_FREQUENCY I_HCURRENT ERROR output up to 3 DITHER_AMP INACTIVE MAX_CURRENT OPEN_LOAD OVERCURRENT_TIME FILTER_DEEP MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_DETEC- TION 7 DO_HS3 MAX_CURREN O_DIGITAL OVERCURRENT High-side digi-...
  • Page 30 Jetter AG Programming | 7 ID Interface Parameters Values Status 10 CPWMO_HS3 PWM_FREQUENCY O_HCURRENT OVERCURRENT High-side out- DITHER_FREQUENCY I_HCURRENT ERROR put up to 3 A DITHER_AMP INACTIVE with current CURRENT_CONTROL_P CC_UNLOCK control CURRENT_CONTROL_I OPEN_LOAD CURRENT_CONTROL_D CURRENT_CON- TROL_TIME MAX_CURRENT OVERCURRENT_TIME FILTER_DEEP...
  • Page 31 Jetter AG Programming | 7 ID Interface Parameters Values Status 15 PWMO_HB5 PWM_FREQUENCY O_DUTY_CYCLE OVERCURRENT Half-bridge DITHER_FREQUENCY I_HCURRENT ERROR PWM output up DITHER_AMP INACTIVE to 5 A. Toggle MAX_CURRENT OPEN_LOAD between high and low side. OVERCURRENT_TIME FILTER_DEEP MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_DETEC-...
  • Page 32 Jetter AG Programming | 7 ID Interface Parameters Values Status 19 AI_TEMPERA- MIN_TEMPERATURE I_TEMPERATURE ERROR TURE MAX_TEMPERATURE INACTIVE Temperature MIN_DEVIATION TEMPERATURE- input FAULT 22 PWMO_HS10 PWM_FREQUENCY O_DUTY_CYCLE OVERCURRENT High-side half- DITHER_FREQUENCY I_HCURRENT ERROR bridge. Parallel DITHER_AMP INACTIVE connection of output up to 10...

  • Page 33: Tab. 23 Available Interfaces, Parameters, Values And Statuses

    Jetter AG Programming | 7 ID Interface Parameters Values Status 25 PWMO_HB24 PWM_FREQUENCY O_DUTY_CYCLE OVERCURRENT Half-bridge par- DITHER_FREQUENCY I_HCURRENT ERROR allel connection DITHER_AMP INACTIVE PWM output up MAX_CURRENT OPEN_LOAD to 24 A (2 x 12 OVERCURRENT_TIME FILTER_DEEP MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_DETEC-...

  • Page 34: Tab. 25 Io Interface Output Values

    Jetter AG Programming | 7 Type Subindex Description Type of ac- Value range cess I_DIGITAL Digital value Bool 0 or 1 I_COUNTER Count value 0 … 4294967295 I_PERIODIC_TIME Period time; the duration of the Increment 1 period is measured µs I_HPULS_TIME High-pulse time;...
  • Page 35 Jetter AG Programming | 7 Type Unit/ Subindex type Description Type of ac- value range cess DITHER_AMP Dither amplitude 1 ‰, Default = 0, Max = 500 ‰) CURRENT_CON- Current control - P parameter TROL_P x1000000 CURRENT_CON- Current control - I parameter...

  • Page 36: Service Data Objects (Sdo)

    Programming | 7 Type Unit/ Subindex type Description Type of ac- value range cess MAX_TEMPERA- For JXM-IO-E31-G20-K00: 150 °C TURE If the maximum permitted tem- Increment 1°C perature is exceeded, the sta- tus is set to TEMPERATURE- FAULT. For JXM-IO-E31-G20-K00- 820°C Increment 1°C...

  • Page 37: Device Information

    Jetter AG Programming | 7 Input and output values as well as the parameters are mapped via the following subindexes: Index Subindex Description Type Default value 0x2100 … Number of supported en- 0x2119 tries IO interface 0 (disabled) type I/O status...

  • Page 38: Diagnostic Information

    Jetter AG Programming | 7 7.4.2 Diagnostic information Diagnostic information Type Index Subindex Description Type of ac- Unit cess 0x2000 Number of supported entries VBAT_PWR 7 V PCB temperature 0.1 °C CPU temperature 0.1 °C CPU VREF VEXT_SEN_1 VEXT_SEN_2 12 V VBAT_ECU...

  • Page 39: Mapping Of Process Data Objects (Pdos)

    Jetter AG Programming | 7 Status information Index Subindex Description Type Type of access 0x1001 Error register Bit 0 Generic error Bit 1 Total overcurrent Bit 3 Temperature Bit 4 Communication error Bit 7 CI error (invalid input) Tab. 30: Status information 7.5 Mapping of Process Data Objects (PDOs)

  • Page 40: Tab. 32 Tpdo Communication Parameters

    Jetter AG Programming | 7 7.5.2 TPDO communication parameters Subind Type of Index Description Type Unit Default value access 0x1800 Number of sup- … ported entries 0x1803 COB ID (user- Index 0x1800 0x180 + node configurable value for PDOs) Index 0x1801...

  • Page 41: Stx Example 1

    The following STX example shows you in part how you can output the value AI1_VOLTAGE on TPDO1. In the following code snippets cCanChannel is predefined with 0 and cJXMNodeId with 0x40. //Switching JXM-IO-E31 to PREOPERATIONAL CanOpenSetCommand(     cCanChannel, CAN_CMD_NMT;     CAN_CMD_NMT_VALUE(cJXMNodeId, CAN_NMT_PREOPERATIONAL));...

  • Page 42: Stx Example 2

        cCanChannel, cJXMNodeId, 0x1800, 1, CANOPEN_DWORD, 4, dTemp, iBusy); when SDOACCESS_FINISHED(iBusy) continue; As soon as the node is put into operational mode, the TPDO is sent according to the settings in the TPDO object (Index = 0x1800): //Setting JXM-IO-E31 to OPERATIONAL CanOpenSetCommand(     cCanChannel,CAN_CMD_NMT,     CAN_CMD_NMT_Value(cJXMNodeId,CAN_NMT_OPERATIONAL)); 7.5.5 STX example 2 The following STX example shows in excerpts how you can make the values PWMi_HS3_1 O_HCURRENT and PWMi_HL5_3 O_DUTY_CYCLE listen to RPDO2.
  • Page 43 RPDO2. In the control software, variables are linked to the RPDO using CanOpenAddPDOTx or CanOpenAddPDOTxBit. The value for PWMi_HS3_1 O_HCURRENT starts at byte position 0 and the value for PWMi_HL5_3 O_DUTY_cycle starts at byte position 2. //Setting JXM-IO-E31 to OPERATIONAL CanOpenSetCommand(     cCanChannel,CAN_CMD_NMT,     CAN_CMD_NMT_Value(    cJXMNodeId,CAN_NMT_OPERATIONAL));...

  • Page 44: Acquisition Of Encoder Signals

    Jetter AG Programming | 7 7.6 Acquisition of encoder signals The ENCI_PNP interface lets you acquire encoder signals. 2 inputs are required for the acquisi- tion. For example, if you configure input DI_3 as ENCI_PNP, the adjacent input DI_4 is also as- signed automatically.

  • Page 45: Saving Settings Permanently And Resetting To Default Values

    The vehicle controller reads the CRC via index 0x4556, subindex 1 and saves this value lo- cally remanently. After restarting the JXM-IO-E31, the vehicle controller compares the locally saved CRC value with the value in index 0x4556, subindex 1. If the values do not match, parameteriza- tion must be restarted.

  • Page 46: System Parameters

    Tab. 40: System parameters INFO Activating the set system parameters You can only use the set system parameters after restarting the system. 7.9 NMT commands The following NMT commands are supported by JXM-IO-E31: NMT commands Description RESET Node is reset PREOPERATIONAL...

  • Page 47: Heartbeat

    Jetter AG Programming | 7 Error memory (error history) The EMCY errors are stored in a stacked memory. The sub-index 1 gives you access to the lat- est error. Byte Contents 0 … 1 = Emergency Error Code 2 = Error register...

  • Page 48: Boot Message

    Jetter AG Programming | 7 7.10.2 Boot Message The JXM-IO-E31 sends a boot message as soon as it has entered the PRE-OPERATIONAL state. This is the first heartbeat message. 7.11 Current control with PID controller The individual P, I and D controllers usually have the following characteristics: Fig. 9: Comparison of controller types in a control loop...

  • Page 49: Fig. 10: Test Scenario With The Control Parameters P=100,000, I=0, D=0

    Jetter AG Programming | 7 Closed-loop control parameters: P=100,000, I=0, D=0, Measurements: blue=setpoint, red=actual value Fig. 10: Test scenario with the control parameters P=100,000, I=0, D=0 The P controller works well with this value. However, the setpoint is not reached, which corre-...

  • Page 50: Fig. 12 Test Scenario With The Control Parameters P=100,000, I=5,000, D=400

    Jetter AG Programming | 7 Closed-loop control parameters: P=100,000, I=5,000, D=400, Measurements: blue=setpoint, red=actual value Fig. 12: Test scenario with the control parameters P=100,000, I=5,000, D=400 The D controller causes the actual value to approach the setpoint more quickly. Closed-loop control parameters: P=100,000, I=10,000, D=400, Measurements: blue=set- point, red=actual value Fig. 13: Test scenario with the control parameters P=100,000, I=10,000, D=400...

  • Page 51: Current Measurement At The Pwmi_H3_X Outputs

    Jetter AG Programming | 7 7.11.2 Current measurement at the PWMi_H3_X outputs The current measurement at the PWMi_H3_X outputs is implemented via shunt resistor. The measuring amplifier has a low-pass filter with R*C = 1 ms. This low-pass filter provides an inte- gral component.

  • Page 52: Dither Technology For Controlling Hydraulic Valves

    If the valve can only be controlled at higher frequencies (1 KHz), the PWM signal can be modu- lated. This so-called "dither technology" also prevents the needle from coming to rest. You can set the frequency and amplitude of this dither signal in the JXM-IO-E31: ■...

  • Page 53: Maintenance And Repairs

    In case of damaged packaging inspect the device for any visible damage, and in- form your freight forwarder and the Jetter AG of the damage caused during ship- ment. If the device is damaged or has been dropped, it is strictly forbidden to use...

  • Page 54: Service

    To contact them, please call our technical hotline or use the contact form on our homepage: Technical hotline | Jetter - We automate your success. You are also welcome to send an e-mail to our technical hotline: hotline@jetter.de...

  • Page 55: Spare Parts And Accessories

    Inadequate accessories might cause damage to the product NOTICE Parts and equipment from other manufacturers might impede the function of the device and cause damage to the product. ► Only use accessories recommended by Jetter AG. jxm-io-e31_ba_1052_manual 55 / 59...
  • Page 56 Jetter AG List of tables List of tables Tab. 1 Environmental conditions ......................Tab. 2 Power supply of output drivers ....................Tab. 3 ECU power supply........................Tab. 4 Connections to ground ......................Tab. 5 Mechanical specifications......................Tab. 6 Pulses to ISO 7637-2 ......................
  • Page 57 Jetter AG List of tables Tab. 40 System parameters ......................... Tab. 41 Supported NMT commands ....................Tab. 42 Byte values of Emergency objects ..................Tab. 43 Byte values of the error memory ..................... Tab. 44 Subindeces of the error memory .....................
  • Page 58 Jetter AG List of figures List of figures Fig. 1 Design ............................. Fig. 2 Sample nameplate ........................Fig. 3 Dimensions in mm........................Fig. 4 Graph: Principle of linearization ....................Fig. 5 Allowed mounting orientations ....................Fig. 6 Prohibited mounting orientation....................
  • Page 59 Jetter AG Graeterstrasse 2 71642 Ludwigsburg www.jetter.de E-mail info@jetter.de Phone +49 7141 2550-0 We automate your success.

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