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Summary of Contents for Jetter JXM-IO-E31
- Page 1 User Manual JXM-IO-E31 Expansion Module 60885291_01 We automate your success.
- Page 2 This document has been compiled by Jetter AG with due diligence based on the state of the art as known to them. Any revisions and technical advancements of our products are not automatically made available in a revised document. Jetter AG shall not be liable for any errors either in form or content, or for any missing updates, as well as for any damage or detriment resulting from such failure.
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Page 3: Table Of Contents
Requirements for installation location and mounting surface ............ 21 Mounting orientation ........................ 22 5.2.1 Allowed mounting orientations.................. 22 5.2.2 Forbidden mounting orientations ................... 23 Installing the expansion module .................... 24 6 Electrical connection........................ 25 Pin assignment .......................... 27 6.1.1 MOLEX connector ...................... 27 User Manual – JXM-IO-E31... - Page 4 8.12 Dither technology for controlling hydraulic valves .............. 61 9 Maintenance and repairs........................ 62 Maintenance, repairs and disposal.................... 62 Storage and shipment ....................... 62 10 Service ............................... 63 10.1 Customer service........................ 63 11 Spare parts and accessories ...................... 64 11.1 Accessories .......................... 64 User Manual – JXM-IO-E31...
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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
Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WARNING Medium risk Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. User Manual – JXM-IO-E31 6 / 68... - Page 7 Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury. NOTICE Material damage Indicates a situation which, if not avoided, could result in mal- functions or material damage. User Manual – JXM-IO-E31 7 / 68...
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Page 8: Product Description
Product Description | 3 3 Product Description The JXM-IO-E31 expansion module is a universal building block for remote I/Os on self-propelled machines. With its balanced I/O configuration, it can handle al- most all remote tasks and is particularly suitable for controlling brushed DC mo- tors in self-propelled machines. -
Page 9: Product Features
Separate UB connections for logic and output driver supply ■ Total current output up to 24 A at 85 °C 3.4 Diagnostic capability via LEDs The JXM-IO-E31 is equipped with 2 LEDs to indicate various states and errors. Color Blinking pattern Description ■... -
Page 10: Nameplate
Registration number and hardware revision Barcode Serial number Model code number 3.6 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 PT1000 measuring range User Manual – JXM-IO-E31 10 / 68... -
Page 11: Technical Specifications
Jetter AG Technical specifications | 4 4 Technical specifications This chapter contains information on electrical and mechanical data as well as operating data of the JXM-IO-E31. 4.1 Dimensions 43.1 38.4 18.6 93.5 Fig. 3: Dimensions in mm INFO CAD data CAD data of the device can be found in the download area of our homepage. -
Page 12: Mechanical Specifications
Protect the circuit by an external 2 A fuse. Voltage protection +36 V for 1 h at T -20 °C, function state C Tab. 3: ECU power supply Ground reference Purpose GND_PWR Ground for VBAT_PWR and VBAT_ECU GND_SEN Ground for VEXT_SEN Tab. 4: Ground reference User Manual – JXM-IO-E31 12 / 68... -
Page 13: Environmental Conditions
Narrowband emission 30 MHz ... 1,000 MHz Min. 1 dB below limit Wideband emission 30 MHz ... 1,000 MHz Min. 1 dB below limit Tab. 8: Emission CISPR 25 ESD EN 61000-4-2 ESD EN 61000-4-2 Values Functional class Contact discharge ±4 kV Discharge through air ±8 kV Tab. 9: ESD EN 61000-4-2 User Manual – JXM-IO-E31 13 / 68... -
Page 14: Outputs
This does not apply to 5 A half-bridges. Here, each half bridge can be set separately. In order to achieve double current carrying capacity, selected outputs can be con- nected in parallel. User Manual – JXM-IO-E31 14 / 68... -
Page 15: Tab. 11 Outputs Pwmi_Hl5_1
10 Hz … 1 kHz 1 kHz … 5 kHz 0.1 % 1 % Resolution Min. PWM frequency 10 Hz Control period ≥ 5 ms, adjustable Dithering frequency 50 Hz … 800 Hz Dither amplitude 0 % … 50 % Current diagnostics Resolution 12 bits Measuring range 0 A ... 7.5 A Measuring accuracy ±15 % Tab. 11: Outputs PWMi_HL5_1 ... PWMi_HL5_4 User Manual – JXM-IO-E31 15 / 68... -
Page 16: Tab. 12 Outputs Pwmi_Hl12_1
Operating current Min. 100 mA Accuracy 1 % Diagnostic function The voltage generated at the 10 V power supply unit can be read out via SDO. Each channel can be checked for short circuit. Tab. 14: VREF_10V User Manual – JXM-IO-E31 16 / 68... -
Page 17: Current Diagnostics At The Outputs
OVERCURRENT_TIME. If an overcurrent event is detected, the output shuts down and the overcurrent bit is set for 10 seconds. During this time the port can- not be switched on again. ü Re-enabling the The JXM-IO-E31 is in the Operational state. port ü... -
Page 18: Inputs
4.7 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 19: Tab. 16 Ai_Pt1000
VBAT_ECU or GND via an offset. Parameter Description Configuration inputs for configuring the node ID Abbreviation CFG1 CFG2 Quantity Tab. 18: Configuration inputs CFG1 … CFG2 For more information refer to chapter Setting the node ID [} 45]. User Manual – JXM-IO-E31 19 / 68... -
Page 20: Mechanical Installation
Functional impairment due to magnets or motors with coil Using magnets or motors with a coil in the vicinity of the JXM-IO-E31 may adversely affect current readings of the in- puts and outputs. ► Ensure that there is sufficient clearance or shield the JXM-IO-E31. -
Page 21: Requirements For Installation Location And Mounting Surface
Requirements for ■ Sufficient air circulation the installation ■ Sufficient space between the device and parts that may become very hot space ■ The device must be accessible for service work at all times. User Manual – JXM-IO-E31 21 / 68... -
Page 22: Mounting Orientation
INFO Overheating due to incorrect mounting orientation If the device switches itself off, check whether the device has overheated due to an unfavorable mounting orientation. 5.2.1 Allowed mounting orientations Fig. 5: Allowed mounting orientations User Manual – JXM-IO-E31 22 / 68... -
Page 23: Forbidden Mounting Orientations
Do not route the connector plug vertically upwards. ► Do not use a steam jet near the unprotected device. Any orientation where the connector plug is not protected against splash water or condensation is prohibited. Fig. 6: Forbidden mounting orientation User Manual – JXM-IO-E31 23 / 68... -
Page 24: Installing The Expansion Module
Material Type Quantity Screws/bolts Washers DIN 125-1 Tab. 20: Fastening material Mechanical ► Use both mounting lugs to fasten the JXM-IO-E31. The stud torque is 4 Nm installation max. Fig. 7: Installation drawing User Manual – JXM-IO-E31 24 / 68... -
Page 25: Electrical Connection
Surges may cause malfunctions or damage to the product. ► Protect the voltage inputs from surges according to the re- quirements. ► Ensure that the device is handled in accordance with ESD regulations. User Manual – JXM-IO-E31 25 / 68... - Page 26 Electrical connection | 6 NOTICE Interferences due to differences in potential Differences in potential can lead to interferences. ► Wire sensors and actuators including their supply lines in star configuration to prevent differences in potential. User Manual – JXM-IO-E31 26 / 68...
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Page 27: Pin Assignment
AI_PT1000 Analog input for PT1000 thermal sensor CAN1_TERM These two pins must be jumpered to enable the 120 Ω terminating resistor. Configuration pins for setting the CAN ID Digital and frequency input PNP/NPN User Manual – JXM-IO-E31 27 / 68... -
Page 28: Tab. 21 Abbreviations Used In This Document
Manufacturer part number 0643201311 Crimp contacts For 0.75 mm² lines Quantity Manufacturer part number 0643221029 For 1.5 mm² lines Quantity Manufacturer part number 0643231039 Protective cap Manufacturer part number 0643201301 Tab. 22: MOLEX mating connector - Specification User Manual – JXM-IO-E31 28 / 68... -
Page 29: Identification And Configuration
Jetter AG Identification and Configuration | 7 7 Identification and Configuration 7.1 Identification This chapter describes how to identify the JXM-IO-E31 device: ■ Determining the hardware revision ■ Retrieving Electronic Data Sheet (EDS) information. The EDS holds numerous non-volatile production-relevant data. -
Page 30: Electronic Data Sheet (Eds)
Jetter AG Identification and Configuration | 7 7.1.2 Electronic Data Sheet (EDS) Each JXM-IO-E31 features an Electronic Data Sheet (EDS). Production-specific data is stored in the CANopen object indexes 0x4555 and 0x4565. EDS information Types of Index Subindex Description Type... -
Page 31: Operating System Update Of The Expansion Module
Identification and Configuration | 7 7.2.1 Operating System Update of the Expansion Module This chapter describes how to carry out an operating system update on the JXM-IO-E31 expansion module. You have got several options to transfer the OS file to the expansion module: ■... - Page 32 The device starts in boot loader mode with a single heartbeat in init state (data = 0x00). Wait for approx. 7 seconds while the device formats the flash memory. ð The device starts the download process. ð The device starts automatically with the new firmware. User Manual – JXM-IO-E31 32 / 68...
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Page 33: Parameterization
8.1 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 34: Tab. 27 Supported Ports And Interfaces - Overview
PWMi_HL12_1 … 12 A bridge PWM output INACTIVE PWMi_HL12_4 with current reading PWMO_HB12 PWMO_HS12 PWMO_HS24 PWMO_HB24 Tab. 27: Supported ports and interfaces - Overview When configuring the outputs, observe the information in chapter Outputs [} 14]. User Manual – JXM-IO-E31 34 / 68... -
Page 35: Tab. 28 Subindexes For Accessing Parameters, Values, And Statuses
I/O interface 0 (disabled) type I/O status 1 (disabled bit set) 10 … 29 Input values 30 … 49 Output values W only in Operational state 50 … 199 Parameter Tab. 28: Subindexes for accessing parameters, values, and statuses User Manual – JXM-IO-E31 35 / 68... -
Page 36: Overview - I/O Interfaces
4 FI_PNP SENSOR_SUPPLY I_FREQUENCY INACTIVE Frequency in- TIMEOUT_TIME I_DUTY_CYCLE ERROR GATE_TIME I_DIGITAL SUPPLY_FAULT I_COUNTER TIMEOUT (active-high with pull-down) I_PERIODIC_TIME I_H_PULSE_TIME I_L_PULSE_TIME 5 DI_NPN SENSOR_SUPPLY I_DIGITAL INACTIVE Digital input ERROR (active-low with SUPPLY_FAULT pull-up) User Manual – JXM-IO-E31 36 / 68... - Page 37 OVERCURRENT 3 A MIN_DEVIATION OPEN_CIRCUIT MIN_CURRENT OPENCIRCUIT_ DETECTION 8 PWMO_HS5 PWM_FRQ I_HCURRENT INACTIVE High-side half- DITHER_FRQ O_DUTY_CYCLE ERROR bridge PWM DITHER_AMP OVERCURRENT output up to MAX_CURRENT OPEN_CIRCUIT 5 A OVERCURRENT_TIME FILTER_DEEP MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_ DETECTION User Manual – JXM-IO-E31 37 / 68...
- Page 38 TIMEOUT (active-low with pull-up) I_PERIODIC_TIME I_H_PULSE_TIME I_L_PULSE_TIME 14 PWMO_HL5 PWM_FRQ I_HCURRENT INACTIVE Low-side half- DITHER_FRQ O_DUTY_CYCLE ERROR bridge PWM DITHER_AMP OVERCURRENT output up to 5 MAX_CURRENT OPEN_CIRCUIT OVERCURRENT_TIME FILTER_DEEP MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_ DETECTION User Manual – JXM-IO-E31 38 / 68...
- Page 39 DETECTION 18 PWMO_HB12 PWM_FRQ I_HCURRENT INACTIVE Half-bridge DITHER_FRQ O_DUTY_CYCLE ERROR PWM output, DITHER_AMP OVERCURRENT up to 1 A. MAX_CURRENT OPEN_CIRCUIT OVERCURRENT_TIME Notice: Default FILTER_DEEP is low-side (only in MIN_DEVIATION Operational MIN_CURRENT state) OPENCIRCUIT_ DETECTION User Manual – JXM-IO-E31 39 / 68...
- Page 40 MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_ DETECTION 24 PWMO_HS24 PWM_FRQ I_HCURRENT INACTIVE Parallel DITHER_FRQ O_DUTY_CYCLE ERROR connected half- DITHER_AMP OVERCURRENT bridge high- MAX_CURRENT OPEN_CIRCUIT side output, up to 24 A OVERCURRENT_TIME (2 x 12 A) FILTER_DEEP MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_ DETECTION User Manual – JXM-IO-E31 40 / 68...
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Page 41: Parameters, Values And Statuses
I_FREQUENCY Frequency value; the pulses in 0.1 … 10,000 the gate time window Increment (GATE_TIME) are counted 0.1 Hz I_DUTY_CYCLE PWM duty cycle Increment 0.1 % I_DIGITAL Digital value Bool 0 or 1 I_COUNTER Count value 0 … 4294967 User Manual – JXM-IO-E31 41 / 68... -
Page 42: Tab. 31 Output Values
3 = VREF_SEN Default: 0 PWM_FRQ PWM frequency 0.1 Hz Default: 1 kHz DITHER_FRQ Dither frequency 0.1 Hz Default = 1,000 DITHER_AMP Dither amplitude 0.1 %, Default = 0 CURRENT_CON- Current control: Default: 100000 TROL_P P-component x1000000 User Manual – JXM-IO-E31 42 / 68... -
Page 43: Tab. 30 Input Values
µA, mV or °C input values Default: 10 MIN_CURRENT If less current flows at the 1 mA output than the set thresh- old, this is regarded as a cable break and the status is set to OPEN_LOAD. User Manual – JXM-IO-E31 43 / 68... - Page 44 For JXM-IO-E31-G20-K00- 820 °C Increment 1 °C If the maximum allowed temperature is exceeded, the TEMPERATUREFAULT status is set. RESOLUTION Resolution, e.g. for encoder 0 … 2 input 1/4 resolution 1/2 resolution Full resolution Default: 0 User Manual – JXM-IO-E31 44 / 68...
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Page 45: Setting The Node Id
Jumpered to VBAT → High (H) ■ Open → O The offset corresponds to the values in the following table: CFG1 CFG2 Offset of module ID Tab. 33: Offset for set base node ID User Manual – JXM-IO-E31 45 / 68... -
Page 46: Diagnostic Information
Subindex Description Type Types of access 0x1001 Error register Bit 0 General error Bit 1 Total overcurrent Bit 3 Temperature Bit 4 Communication error Bit 7 CI error (invalid input) Tab. 35: Status information User Manual – JXM-IO-E31 46 / 68... -
Page 47: Saving Settings Permanently And Resetting To Default Values
3. The vehicle controller reads the CRC via index 0x4556, subindex 1 and saves this value locally in a remanent memory. 4. 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, parameteri- zation must be restarted. -
Page 48: System Parameters
*The CRC is calculated using the current parameter values described in chapter Saving settings permanently and resetting to default values [} 47]. INFO Activating the set system parameters You can only use the set system parameters after restarting the system. User Manual – JXM-IO-E31 48 / 68... -
Page 49: Mapping Of Process Data Objects (Pdos)
Event Time U16 R/W 1 ms 10 (10 ms) Tab. 40: RPDO communication parameters INFO Write access to communication parameters Write access to communication parameters is only possible if the JXM-IO-E31 is in the Pre-Operational state. User Manual – JXM-IO-E31 49 / 68... -
Page 50: Tpdo Communication Parameters
Event Time 1 ms 10 (10 ms) Tab. 41: TPDO communication parameters INFO Write access to communication parameters Write access to communication parameters is only possible if the JXM-IO-E31 is in the Pre-Operational state. 8.6.3 Mapping tables RPDO mapping table Subind Types of... -
Page 51: Sending Interface Input Values Via Tpdo
Subindex Index Tab. 44: Mapping entry U32 8.6.4 Sending interface input values via TPDO To send interface input values via TPDO, proceed as follows: Switch the JXM-IO-E31 to Pre-Operational state. Assign the desired interface. Invalidate the TxPDO object. Disable the mapping. - Page 52 //Validating object, setting uppermost bit to 0, specifying PDO COB dTemp := 0x180+0x40; CanOpenDownloadSDO( cCanChannel, cJXMNodeId, 0x1800, 1, CANOPEN_DWORD, 4, dTemp, iBusy); when SDOACCESS_FINISHED(iBusy) continue; //Switch JXM-IO-E31 to Operational state CanOpenSetCommand( cCanChannel,CAN_CMD_NMT,CAN_CMD_NMT_Value( cJXMNodeId,CAN_NMT_OPERATIONAL)); User Manual – JXM-IO-E31 52 / 68...
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Page 53: Frequency Measurement At The Digital Inputs
If, for example, you configure input DI_P_3 as ENCI_PNP, the adjacent in- put DI_P_4 is automatically configured as ENCI_PNP. If you reconfigure one of the two inputs, the adjacent input automatically becomes INACTIVE - no encoder signals are acquired any more. User Manual – JXM-IO-E31 53 / 68... -
Page 54: Tab. 45 Resolution Of The Encoder Signals
You can query the following Input values: Input value Description PDO send condition I_COUNTER 32-bit counter running forward Event Time and backward I_DIRECTION Current direction In case of change Tab. 46: Input values for ENCI_PNP User Manual – JXM-IO-E31 54 / 68... -
Page 55: Nmt Commands
The TIMEOUT_TIME parameter allows you to specify the time required to elapse before a stand- still is signaled. The default value is 1,000 ms, i.e. if no more pulses are received for 1,000 ms, then I_DIRECTION = 0. 8.9 NMT commands The JXM-IO-E31 supports the following NMT commands: NMT commands Description RESET... -
Page 56: Tab. 51 Emergency Error Codes
Processing errors due to incorrect length of PDOs 0x8220 PDO length exceeded 0xff00 Configuration error on the device 0xff01 I/O-Port OVERVOLTAGE 0xff02 I/O-Port OVERCURRENT 0xff03 I/O-Port SUPPLYFAULT 0xff05 I/O-Port OPEN_CIRCUIT 0xff06 I/O-Port TIMEOUT 0xff07 I/O-Port CC_UNLOCK Tab. 51: Emergency Error Codes User Manual – JXM-IO-E31 56 / 68... -
Page 57: Heartbeat
■ = 4 bytes (U32) ■ = reserved ■ = 127 (node ID) ■ = 1000 (timeout in ms) Read first configuration in first entry. r 0x1016 1 Tab. 54: Heartbeat Monitoring - Example User Manual – JXM-IO-E31 57 / 68... -
Page 58: Current Control With Pid Controller
The individual P, I and D controllers usually have the following characteristics: Fig. 10: Comparison of controller types in a control loop Step response Time 8.11.1 Test scenario The PID controller was tested on the JXM-IO-E31 under the following conditions: Condition Description Output 1 kHz PWM Control period 10 ms... -
Page 59: Fig. 11: Test Scenario With The Control Parameters P = 100,000, I = 0, D = 0
Closed-loop control parameters: P = 100,000, I = 5,000, D = 0, Measurements: blue = setpoint, red = actual value Fig. 12: Test scenario with the control parameters P = 100,000, I = 5,000, D = 0 The I controller also works satisfactorily, the setpoint is reached with this setting. User Manual – JXM-IO-E31 59 / 68... -
Page 60: Fig. 13 Test Scenario With The Control Parameters P = 100,000, I = 5,000, D = 400
In this example, the period of the setpoint signal was selected with approx. 10 ms for illustrative purposes. For fast control, the P value should be increased and the sampling time reduced to 5 ms. Settling times < 50 ms can be achieved. User Manual – JXM-IO-E31 60 / 68... -
Page 61: Current Measurement At The Pwmi_H3_X Outputs
If the valve can only be controlled at higher frequencies (1 kHz), the PWM signal can be modu- lated. This is known as dithering and also prevents the needle from coming to rest. You can set the frequency and amplitude of the dither signal in the JXM-IO-E31: ■... -
Page 62: 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 User Manual –... -
Page 63: 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 64: Spare Parts And Accessories
Only use accessories recommended by Jetter AG. 11.1 Accessories INFO Ordering accessories The accessories are not part of the scope of delivery. Suitable accessories can be obtained from Jetter AG. Accessories Item number Connector set including crimp contacts and blanking 10001729 plugs for individual pins Tab. 56: Accessories... - Page 65 Fig. 12 Test scenario with the control parameters P = 100,000, I = 5,000, D = 0 ....... Fig. 13 Test scenario with the control parameters P = 100,000, I = 5,000, D = 400 ......Fig. 14 Test scenario with the control parameters P = 100,000, I = 10,000, D = 400 ......Fig. 15 Dithering ..........................User Manual – JXM-IO-E31 65 / 68...
- Page 66 Tab. 34 Diagnostic information ......................Tab. 35 Status information........................Tab. 36 Save settings in EEPROM....................... Tab. 37 Resetting the settings to their default values................Tab. 38 System parameters ......................... Tab. 39 Validity of a PDO ........................User Manual – JXM-IO-E31 66 / 68...
- Page 67 Tab. 51 Emergency Error Codes ......................Tab. 52 Index of the heartbeat message ....................Tab. 53 Heartbeat monitoring ....................... Tab. 54 Heartbeat Monitoring - Example....................Tab. 55 General conditions of the test scenario ................... Tab. 56 Accessories ..........................User Manual – JXM-IO-E31 67 / 68...
- Page 68 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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