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Summary of Contents for Jetter JXM-IO-EW30-G27
- Page 1 User Manual JXM-IO-EW30-G27 Expansion module 60885727_02 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 ........................ 21 Installing the expansion module .................... 21 6 Electrical connection........................ 22 Pin assignment .......................... 24 6.1.1 Printed Circuit Board ..................... 24 6.1.2 5-pin male connector M12 ..................... 28 User Manual – JXM-IO-EW30-G27... - Page 4 8.12 Dither technology for controlling hydraulic valves .............. 59 9 Maintenance and repairs........................ 60 Maintenance, repairs and disposal.................... 60 Storage and shipment ....................... 60 10 Service ............................... 61 10.1 Customer service........................ 61 11 Spare parts and accessories ...................... 62 User Manual – JXM-IO-EW30-G27...
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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
Machinery Directive This device is no safety-related part as per Machinery Directive 2006/42/EC, and must, therefore, not be used for safety-relevant applications. This device is NOT intended for the purpose of personal safety, and must, therefore, not be used to protect persons. User Manual – JXM-IO-EW30-G27 6 / 66... -
Page 7: Warnings Used In This Document
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-EW30-G27 7 / 66... -
Page 8: Product Description
Jetter AG Product Description | 3 3 Product Description The JXM-IO-EW30-G27 expansion module is a universal building block for re- mote I/Os on mobile machines. 3.1 Design Fig. 1: Design Fastening screws for attaching the lower part Mounting lugs Housing (cover) -
Page 9: Diagnostic Capability Via Leds
■ Separate connections for logic and output driver supply ■ Total current output of up to 25 A 3.3 Diagnostic capability via LEDs The JXM-IO-EW30-G27 has an LED panel to indicate various states and errors. Left position Right position State Steady ■... -
Page 10: Nameplate
Jetter AG Product Description | 3 3.4 Nameplate Fig. 4: Nameplate Company logo Item name Item number Serial number Bar code Hardware revision 3.5 Scope of delivery Scope of delivery Item number Quantity JXM-IO-EW30-G27 10002041 User Manual – JXM-IO-EW30-G27 10 / 66... -
Page 11: Technical Specifications
Fig. 5: Dimensions in mm INFO Tolerance according to GTA 13/5 DIN 1688 Owing to the conical shape of the JXM-IO-EW30-G27 housing, limit values are occasionally lower. The respective values are marked with an * in the figure. INFO CAD data CAD data of the device can be found in the download area of our homepage. -
Page 12: Mechanical Specifications
49 mA + total current at VEXT_SEN At 24 V approx. 34 mA + total current at VEXT_SEN 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-EW30-G27 12 / 66... -
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. 9: 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. 10: ESD EN 61000-4-2 User Manual – JXM-IO-EW30-G27 13 / 66... -
Page 14: Outputs
Use as input NPN and PNP input Switching the interface to NPN or PNP affects the entire group PWMi_H3_x OFF! L level ≤ 1.6 V H level ≥ 4.6 V Input resistance PNP 94 kΩ NPN 10 kΩ Tab. 11: Outputs PWMi_H3_1 ... PWMi_H3_4 User Manual – JXM-IO-EW30-G27 14 / 66... -
Page 15: Tab. 12 Outputs Pwm_H7_1
At 10 kHz output frequency, 0.1 % or 99.9 % duty cycle and low impedance load, a signal can no longer be measured. ■ Example - low frequency pulses: 1 Hz output frequency allows for a 0.1 % duty cycle to be measured. User Manual – JXM-IO-EW30-G27 15 / 66... -
Page 16: Tab. 13 Outputs Do_H3_1
VBAT_ECU is looped through to VEXT_SEN via a PTC resistor. An overcurrent or short circuit at the sensor supply can be detected. Abbreviation VEXT_SEN Quantity Peak Current Min. 100 mA per channel at 85 °C Approx. 500 mA per channel at 25 °C Tab. 14: Sensor output VEXT_SEN User Manual – JXM-IO-EW30-G27 16 / 66... -
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-EW30-G27 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-EW30-G27 has 3 separate VEXT_SEN connector pins which should be used to supply the sensors. The connector pins output the bat- tery voltage via a PTC thermistor. The output voltage can be read back in the de- vice so that a failure of the sensor supply can be detected. -
Page 19: Tab. 16 Digital Inputs Di_P_1
VBAT_ECU or GND via an offset. Parameter Description Configuration inputs for configuring the node ID Abbreviation CFG1 CFG2 Quantity Tab. 17: Configuration inputs CFG1 … CFG2 For more information refer to chapter Setting the node ID [} 42]. User Manual – JXM-IO-EW30-G27 19 / 66... -
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-EW30-G27 may adversely affect current readings of the inputs and outputs. ► Ensure that there is sufficient clearance or shield the JXM-IO-EW30-G27. -
Page 21: Requirements For Installation Location And Mounting Surface
To prevent moisture ingress, do not install the JXM-IO-EW30-G27 with the connector pointing upwards. 5.3 Installing the expansion module Fastening material Installation hardware is not included in the scope of delivery. Jetter AG recom- mends the following mounting hardware: Material Properties... -
Page 22: 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-EW30-G27 22 / 66... - Page 23 Wire sensors and actuators including their supply lines in star configuration to prevent differences in potential. NOTICE Compliance with degree of protection Only by proper tightening down the M25 cable gland does the degree of protection apply. User Manual – JXM-IO-EW30-G27 23 / 66...
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Page 24: Pin Assignment
16 14 12 10 8 15 13 11 16 14 12 10 8 16 14 12 10 8 15 13 11 15 13 11 12 10 8 Fig. 7: PCB - pin assignment (top view) User Manual – JXM-IO-EW30-G27 24 / 66... -
Page 25: Fig. 8 Dip Switch Sliders 1
High range (0 ... 10 V) enabled for AI_7 High range (0 ... 10 V) disabled for AI_7 High range (0 ... 10 V) enabled for AI_8 1 2 3 4 High range (0 ... 10 V) disabled for AI_8 Fig. 8: DIP switch sliders 1 ... 4 BOOTSEL enabled BOOTSEL disabled User Manual – JXM-IO-EW30-G27 25 / 66... - Page 26 0.25 mm² … 1 mm² with ferrule without plastic collar Stripping length 6 mm … 7 mm / 0.24 inch … 0.28 inch Number of pins Connector Contact design Female connector/socket Connector (connection For conductors type) Mismating protection Locking of plug-in connec- Locking lever tion User Manual – JXM-IO-EW30-G27 26 / 66...
- Page 27 The following housing is the compatible counterpart of the 4-pin JST connector: Parameter Description Manufacturer Manufacturer part no. XHP-4 Number of contacts Number of rows Pin spacing 2.5 mm Gender Female Length 12.3 mm Width 5.7 mm Enclosure material Polyamide User Manual – JXM-IO-EW30-G27 27 / 66...
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Page 28: 5-Pin Male Connector M12
Jetter AG Electrical connection | 6 6.1.2 5-pin male connector M12 Fig. 9: M12 plug, 5-pin, A-coded Signal Description n.c. Reserved VBAT_ECU ECU power supply GND_ECU Ground for GND_PWR CAN_H CAN High CAN_L CAN Low User Manual – JXM-IO-EW30-G27 28 / 66... -
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-EW30-G27 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-EW30-G27 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... -
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-EW30-G27 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-EW30-G27 32 / 66...
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Page 33: Parameterization
8 Parameterization 8.1 Concept and control The concept of the JXM-IO-EW30-G27 is based on the assignment of interfaces to the inputs and outputs of the device. Each input and output of the device is called a port and can be config- ured. -
Page 34: I/O Ports And Sdo Map
Operational Pre-Operational state. Only possible in the Operational state, otherwise an error occurs (SDO abort). 50 … 199 Parameter Tab. 27: Subindexes for accessing parameters, values, and statuses User Manual – JXM-IO-EW30-G27 34 / 66... -
Page 35: Overview - I/O Interfaces
FI_PNP SENSOR_SUPPLY I_FREQUENCY INACTIVE Frequency input TIMEOUT_TIME I_DUTY_CYCLE ERROR GATE_TIME I_DIGITAL SUPPLY_FAULT (active-high with I_COUNTER TIMEOUT pull-down) I_PERIODIC_ TIME I_H_PULSE_TIME I_L_PULSE_TIME DI_NPN SENSOR_SUPPLY I_DIGITAL INACTIVE Digital input I_COUNTER ERROR (active-low with SUPPLY_FAULT pull-up) User Manual – JXM-IO-EW30-G27 35 / 66... - Page 36 Reserved 10/a CPWMO_HS3 PWM_FRQ I_HCURRENT INACTIVE High-side output DITHER_FRQ O_HCURRENT ERROR DITHER_AMP OVERCURRENT (up to 3 A; with CURRENT_CONTROL_P OPEN_CIRCUIT current control) CURRENT_CONTROL_I CC_UNLOCK CURRENT_CONTROL_D MAX_CURRENT OVERCURRENT_TIME CURRENT_ CONTROL_TIME FILTER_DEEP MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_ DETECTION User Manual – JXM-IO-EW30-G27 36 / 66...
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Page 37: Parameters, Values And Statuses
Types Unit/ Subindex Description Type of ac- Value range cess I_VOLTAGE Voltage value 1 mV I_RATIO Relation to VBAT_ECU 1 ‰ I_CURRENT Current value (small measuring 1 µA range) I_HCURRENT Current value (large measuring 1 mA range) User Manual – JXM-IO-EW30-G27 37 / 66... -
Page 38: Tab. 30 Output Values
Associated sensor supply, 0 = OFF which is also monitored. VEXT_SEN_1 VEXT_SEN_2 VEXT_SEN_3 Default: 0 PWM_FRQ PWM frequency 0.1 Hz Default: 1 kHz DITHER_FRQ Dither frequency 0.1 Hz Default: 1000 DITHER_AMP Dither amplitude 0.1 % Default: 0 User Manual – JXM-IO-EW30-G27 38 / 66... - Page 39 1 … 32 tion depth Default: 1 GATE_TIME Measuring time of the fre- 1 ms quency measurement Default: 1000 MIN_DEVIATION Minimum deviation for in- µA or mV put values (as of OS Default for AI: 2.04.0.00) User Manual – JXM-IO-EW30-G27 39 / 66...
- Page 40 Default: 1 PWM outputs and cur- rent-controlled outputs. This may lead false ca- ble break errors. RESOLUTION Resolution, e.g. at en- 0 … 2 coder input 1/4 resolution 1/2 resolution Full resolution Default: 0 Tab. 31: Parameter User Manual – JXM-IO-EW30-G27 40 / 66...
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Page 41: Tab. 32 Status
This status entry is only checked while the de- vice is booting! 0x00000100 TIMEOUT The time for frequency measurement has been ex- ceeded. 0x00000200 CC_UNLOCK The current control is not within the control range. Tab. 32: Status User Manual – JXM-IO-EW30-G27 41 / 66... -
Page 42: Setting The Node Id
Unit cess 0x2000 Number of supported entries VBAT_PWR 7V IO PCB temperature 0.1 °C CPU temperature 0.1 °C CPU VRef SPWR1 SPWR2 SPWR3 VBAT_ECU CFG1 CFG2 Total current ±50 % Tab. 34: Diagnostic information User Manual – JXM-IO-EW30-G27 42 / 66... -
Page 43: Saving Settings Permanently And Resetting To Default Values
Tab. 37: Resetting the settings to their default values INFO Loading the settings from the EEPROM During bootup, the last saved settings are automatically loaded. During a firmware update, the settings may be reset to the default values. User Manual – JXM-IO-EW30-G27 43 / 66... -
Page 44: System Parameters
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-EW30-G27, the vehicle controller compares the locally saved CRC value with the value in index 0x4556, subindex 1. If the values do not match, parameterization must be restarted. -
Page 45: Mapping Of Process Data Objects (Pdos)
Event Time U16 R/W 1 ms 500 (500 ms) Tab. 40: RPDO communication parameters INFO Write access to communication parameters Write access to communication parameters is only possible if the JXM-IO-EW30-G27 is in the Pre-Operational state. User Manual – JXM-IO-EW30-G27 45 / 66... -
Page 46: Tpdo Communication Parameters
500 (500 ms) Tab. 41: TPDO communication parameters INFO Write access to communication parameters Write access to communication parameters is only possible if the JXM-IO-EW30-G27 is in the Pre-Operational state. For a configuration example, refer to chapter Sending interface input values via TPDO [} 49]. -
Page 47: Mapping Of Digital Values
The SDO shows the value I_DIGITAL for selected values. If you have not previously configured the corresponding port for digital values, then no error message is issued and the value in this bit is not defined. User Manual – JXM-IO-EW30-G27 47 / 66... -
Page 48: Tab. 46 Sdo Commands, Activation Of Byte-Wise Mapping
To switch from the default bitwise mapping to the bytewise mapping after system startup, 2 SDO commands must be sent to the node: Index Subindex Description Data length Value 0x2001 Enabling byte-wise mapping 4 bytes 0xb4c0ffee 4 bytes Tab. 46: SDO commands, activation of byte-wise mapping User Manual – JXM-IO-EW30-G27 48 / 66... -
Page 49: Sending Interface Input Values Via Tpdo
Jetter AG Parameterization | 8 8.6.5 Sending interface input values via TPDO To send interface input values via TPDO, proceed as follows: Switch the JXM-IO-EW30-G27 to Pre-Operational state. Assign the desired interface. Invalidate the TxPDO object. Disable the mapping. Enter the mapping value. - Page 50 //Validating object, setting uppermost bit to 0, specifying PDO COB dTemp := 0x180+0x30; CanOpenDownloadSDO( cCanChannel, cJXMNodeId, 0x1800, 1, CANOPEN_DWORD, 4, dTemp, iBusy); when SDOACCESS_FINISHED(iBusy) continue; //Switch JXM-IO-EW30-G27 to Operational state CanOpenSetCommand( cCanChannel,CAN_CMD_NMT,CAN_CMD_NMT_Value( cJXMNodeId,CAN_NMT_OPERATIONAL)); User Manual – JXM-IO-EW30-G27 50 / 66...
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Page 51: 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-EW30-G27 51 / 66... -
Page 52: Tab. 47 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. 48: Input values for ENCI_PNP User Manual – JXM-IO-EW30-G27 52 / 66... -
Page 53: 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-EW30-G27 supports the following NMT commands: NMT commands Description RESET... -
Page 54: Tab. 52 Subindexes Of The Error Memory
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. 53: Emergency Error Codes User Manual – JXM-IO-EW30-G27 54 / 66... -
Page 55: Heartbeat
■ = 4 bytes (U32) ■ = reserved ■ = 127 (node ID) ■ = 1000 (timeout in ms) Read first configuration in first entry. r 0x1016 1 Tab. 56: Heartbeat Monitoring - Example User Manual – JXM-IO-EW30-G27 55 / 66... -
Page 56: Current Control With Pid Controller
The individual P, I and D controllers usually have the following characteristics: Fig. 11: 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-EW30-G27 under the following conditions: Condition Description Output 1 kHz PWM Control period 10 ms... -
Page 57: Fig. 12: 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. 13: 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-EW30-G27 57 / 66... -
Page 58: Fig. 14 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-EW30-G27 58 / 66... -
Page 59: 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-EW30-G27: ■... -
Page 60: 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 61: 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 62: Spare Parts And Accessories
Inadequate accessories might cause damage to the prod- 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. User Manual – JXM-IO-EW30-G27 62 / 66... - Page 63 Fig. 13 Test scenario with the control parameters P = 100,000, I = 5,000, D = 0 ....... Fig. 14 Test scenario with the control parameters P = 100,000, I = 5,000, D = 400 ......Fig. 15 Test scenario with the control parameters P = 100,000, I = 10,000, D = 400 ......Fig. 16 Dithering ..........................User Manual – JXM-IO-EW30-G27 63 / 66...
- Page 64 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-EW30-G27 64 / 66...
- Page 65 Tab. 53 Emergency Error Codes ......................Tab. 54 Index of the heartbeat message ....................Tab. 55 Heartbeat monitoring ....................... Tab. 56 Heartbeat Monitoring - Example....................Tab. 57 General conditions of the test scenario ................... User Manual – JXM-IO-EW30-G27 65 / 66...
- Page 66 Jetter AG Graeterstrasse 2 71642 Ludwigsburg www.jetter.de E-mail info@jetter.de Phone +49 7141 2550-0 We automate your success.