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1. 22u0ss4n24000snnnannsnnnnnnonnnnnnnnnnnnnnnennnnnnnannnnnanansnnnnannn nn 80 Objects Frequency Input Index 0x2600 Ox2601 24s44224440nnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 82 Object 5 V Output 0x2800 isiin iniinom denn euer ines 84 Objekte OS Update Index 0x4554 und EDS Index 0x4555 24444444440nnnnsnnnnnnnnnnnennnnnnn 85 Object System Parameter Index 0x4556 4ss4s444eensnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ann 86 Validating and setting system parameters unesnennnnnnennnnnnnennnnnnnennnnnnnnnnnnnnn nenn nn 98 Object OS Status Index 0x4557 ooo cece ceeccee cece cece eee ee acca ener iaa addi a aaa aaa 101 Object Detailed Software Version Index 0x4559 u 2444nnnnnnnennnnnnnennnnnnnnnnnnnnnnnnnnnnnnnn 102 Object Slave CAN Termination Index OX4560 0 ee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeseeaeeeeeeeaees 103 Object Master CAN Termination Index 0x4561 4444snnnnennennnnnnnennnnnnnnnnnnnnnnnnn nn 104 Object Electronic Name Plate Index 0X4565 0 eee ee eeeeeeeeeeeeeeeeseeeaeeeseeeeeeeeeeaeeeeeeaaees 105 Object User EEPROM Access Index OX5000 eee eeeeceeeeeeeeeeeteeeeeeeseeeeeeeseeeeeeeseeaeeeseeaaees 106 CANopen PDO Specification 0 c ceceeeseeeceeeeeeeeeeeeneeeeeeeeseeeeeaneeseeeeeseeseaneeseseeeseeseeaneesenes 108 RX PDO allocation on the JXM IO E02 uuuussnseensssnnnnnnssnnnnnnnnnnnnnnn
2. Can be configured as active high inputs PROTECTED FEED DC8 32V lt 51 of IGNITION FEED gt 51 of IGNITION FEED 100 kQ 130 Jetter AG JXM IO E02 Appendix Technical data ar PROTECTED Type of outputs Active high output Rated voltage PROTECTED FEED Permissible voltage range DC 8 32V Signal voltage ON Uprotectep 0 5 V Load current of PROTECTED OUT 9 5 0 A max PROTECTED OUT 16 Can be switched off by electronic safety Yes switch Technical data Over current detection Detection whether the output has switched off Jetter AG 131 7 Protection and diagnostic features JXM IO E02 Technical data 5 7 5 7 PWM outputs o Parameter Description Operating Modes Current controlled output PWM output with static duty cycle PWM frequency Configurable values 0 1 954 kHz 1 977 Hz 2 488 Hz 3 244 Hz 4 122 Hz 5 61 Hz 6 30 Hz Yes Technical data P i Den Analog output arameter Description ion Voltage range at 50 mA 0 STANDARD FEED Current range 0 100 mA Resolution 10 bits Electrical isolation Technical data Voltage range 0 5V m 0 40V Current range 0 20mA Input impedance at 0 5 V 100 KQ Input impedance at 0 IGNITION FEED 50 KQ Input impedance at 0 20 mA 2400 Resolution 10 bits 132 Jetter AG JXM IO E02 Appendix Technical data 5 Frequency inputs arameter Purpose As freq
3. 134 Jetter AG JXM IO E02 Appendix Physical dimensions Introduction This chapter details the physical dimensions of the JXM IO E02 and the conditions for its installation Physical dimensions The illustration shows the physical dimensions of the JXM IO E02 Te 2 150 Space required for The diagram shows the space required for the JXM IO E02 54 installation and service Ensure there is enough space around the connector for servicing requirements It should be possible to disconnect the connector at any time Jetter AG 135 7 Protection and diagnostic features JXM IO E02 Space required to The diagram indicates the safety distances to protect against overheating protect against overheating la nell Please note The JXM IO E02 increases the temperature of the environment as a result of heat emission under load The JXM IO E02 operates without interruption at an ambient temperature of up to 85 C Consider the heat emission from the device in particular when installing it in a critical environment Inthe vicinity of the fuel tank In the vicinity of the fuel pipe Inthe vicinity of flammable vehicle components Inthe vicinity of thermally malleable vehicle components 136 Jetter AG JXM IO E02 Appendix Operating parameters Environment and mechanics Environment Operating temperature range 40 85 C iL Storage temperature range 40 85 C DIN EN 61
4. The current measurement of the JXM IO E02 is temperature dependent At low temperatures the output current will be slightly larger than the limit above before being limited and at high temperatures the output current will be slightly smaller The following formula gives the relation between the specified current and the actual measured current list Ison 9 500 Jetter AG JXM IO E02 PWM outputs Mode selection Tri state coding enable Digital outputs Threshold for no load detection PWM outputs Threshold for no load detection CANopen objects Where K is taken from the following table Load current K at T 40 C K at T 25 C K at T 125 C 0 5A 12 000 12 000 12 000 2 5A 10 000 9 700 9 300 5 0A 10 000 9 700 9 300 The temperature specified in the above table is not the ambient temperature but rather an internal device temperature This temperature will be at least 20 C higher than the ambient when the JXM IO E02 has been working for a few minutes Especially for lower output currents the measurement value will be far less accurate It is recommend for setting the no load and overcurrent thresholds that the thresholds are set with healthy safety margins The parameters of sub index 35 37 let you select the initial mode for the PWM outputs 1 3 at power on Please refer to the description on object 0x2400 sub index 2 The following values are allowed 0 Output is disabled 1
5. OUT 8 Short circuit capability Over current detection No load detection Active high output STANDARD FEED DC 8 32 V lt 1 0V Ustanparp 0 5 V 2 5 Amax Jetter AG JXM IO E02 Mounting and installation Digital universal I Os PROTECTED LG ae ee le a Sialaio e e12 ofala slcls elelate o ate Pe gt 96 unversal VO N WPROTECTEDOUTS _ _ ae funera vo TOPROTECTEDOUTS a9 Junes vo N MIPROTECTED OUT 20 unera vo N 1eeROTECTED OUTIS z umera vo N 1eeROTECTED OUTA 2 unera vo 20PROTECTEDOUTIS 2 unversal VO N2uPROTECTED OUTIS ao Ground reu INIPROTECTEDOUTO a oroma reum INSPROTECTEDOUTION oroma reum NOPROTECTEDOUTN 0 oroa reum INTIPROTECTEDOUTI2 aa rowa reum INOPROTECTEDOUTIS 5 OounareuminOPROTEOTEDOUTM 46 Grunt INZUPROTECTEDOUTIS Technical data SP Digital inputs IN 14 IN 21 Type of inputs Can be configured as active high inputs Rated voltage PROTECTED FEED Permissible voltage range DC 8 32V Operating point OFF lt 51 of IGNITION FEED Operating point ON gt 51 of IGNITION FEED Input impedance 100 KQ Jetter AG 39 4 Mounting and installation Technical data SE PROTECTED Type of outputs Active high output Rated voltage PROTECTED FEED Permissible voltage range DC 8 32V Signal voltage ON Uprotectep 0 5 V Load current of PROTECTED OUT 9 5 0 A max PROTECTED OUT 16 Can be switched off by electronic safety Yes s
6. 2 Serial number Jetter AG 21 3 Identifying the module 3 2 Identification via CANopen bus Introduction Each module features an Electronic Data Sheet EDS Numerous production relevant data are permanently stored in the EDS EDS data can be retrieved via CANopen bus Contents Topic Page Electronic Data Sheet EDS and software version of the module 23 22 Jetter AG JXM IO E02 Identifying the module Electronic Data Sheet EDS and software version of the module Communication with the JXM IO E02 Electronic Data Sheet EDS Software version of the JXM IO E02 Useful documents Related topics Jetter AG Communication with the JXM IO E02 takes place via CAN bus The CANopen standard is used as protocol CANopen is an open standard for networking and communication in the automobile sector The CANopen protocol has been further developed by the CiA e V CAN in Automation and works on the physical layer with CAN Highspeed in accordance with ISO 11898 The Electronic Data Sheet EDS provides information clearly identifying the JXM IO E02 Data contained in the EDS are production specific and are relevant for support purposes The object Electronic Data Sheet 0x4555 lets you retrieve EDS information The object Detailed Software Version 0x4559 lets you read out the version of the software running in the JXM IO E02 This read only object returns the same software version as ob
7. 6 8 191 Parameter 0 Maximum output ro value 7 40 000 Parameter 1 Maximum output ro value The function of sub index 2 is described below Sub index 2 lets you select between two modes of operation One of these modes supports Automatic Gain Control AGC The other mode of operation supports either voltage measurement or current measurement To select the operating mode set or reset bit O and bit 4 e Bit 0 0 Disable AGC e Bit 0 1 Enable AGC e Bit 4 0 Select voltage measurement e Bit 4 1 Select current measurement IfAGC is enabled the analog input lets you measure input signals in the range of 40 V If AGC is disabled the analog input lets you measure input signals in the range of 0 5 V If current measurement is enabled the analog input lets you measure current signals of 0 or 4 20 mA Effectively this mode changes the input impedance of the analog input to 240 Q 20 mA generate a 4 8 V signal 4 mA generate a 960 mV signal and 0 mA result in a 0 V signal To allow for backwards compatibility writing a value of 0x81 to sub index 2 will disable the AGC mode The value of 0x90 will disable the current measurement mode to enable voltage measurement Jetter AG 69 6 CANopen objects Sub index 4 Sub index 5 Sub index 6 Sub index 7 Current mode 70 The function of sub index 4 is described below Sub index 4 lets you read the value of the latest measured analog input signa
8. Avoiding unsuitable installation locations Select a suitable place for the device to be installed A place is suitable if it fulfills the following requirements The installation surface must be made from one of the following materials e Aluminum plate e Galvanized steel plate e Painted steel plate The installation surface must be vertical The installation surface must be level The installation location must allow adequate air circulation The installation location must be accessible for servicing The installation location must be of sufficient size For further information refer to Physical Dimensions see page 17 Do not install the device in locations that do not meet the a m requirements The following locations are not appropriate for installing the JXM IO E02 Inappropriate location Unventilated installation location Stainless steel surfaces Reason The device could overheat as heat builds up Galvanic corrosion may occur between device and mounting surface Installation location close to heat sensitive materials a result of heat produced by the device iz A u a mE The materials could become warped or misshapen as Uneven installation surfaces The installation surface could become misshapen when fitting the device Fastening is unstable and precarious 46 Jetter AG JXM IO E02 Permitted installation positions Prohibited installation positions
9. Mounting and installation The illustration shows the positions permitted for installation _ Number Permitted installation position a o Horizontally lying 2 Horizontally hanging O3 Vertically connector left 4 Vertically connector downwards The diagram shows the positions prohibited for installation Number Prohibited Installation Positions ae Vertically connector upwards 2 Vertically pressure equalizing membrane upwards Jetter AG 47 4 Mounting and installation Why are these installation positions prohibited Vertically connector upwards The accumulation of moisture and water droplets in the connector can lead to current leakages and corrosion Vertically pressure equalizing membrane upwards The accumulation of moisture and water droplets can block the hole which may impede pressure compensation Selecting installation For installation use the following hardware hardware Part scription O Screws bolts Size M5x 15 Surface Galvanized Strength class 8 8 Washers Size 5 3x 10 Surface Galvanized Screw nuts Size M5 Surface Galvanized Strength class 8 8 Avoid Improper You must avoid installation material made from stainless steel In connection Installation Material with the housing material of the JXM IO E02 galvanic corrosion may occur Preparing for installation Mark off the positions of the four mounting holes Center punch the four holes 4 gt
10. Disposal 10 E EDS 23 85 EEPROM 106 Error description 113 Error handling 113 Identification by means of the nameplate 21 Setting reading the node ID 35 66 via CANopen bus 22 Initial commissioning 51 Installation 46 Intended conditions of use 10 Interfaces Analog I Os 42 CAN 35 Digital inputs and outputs 37 Frequency inputs 42 H bridge 42 Power supply 33 Regulated output 5 volts 33 Switch feed outputs 37 Wiring Example 31 Maintenance 10 Modifications 10 O Operating parameters EMC 138 Environment and mechanics 137 Operating system update 85 Order reference JXM IO E02 e 16 OS update 85 P PDO Specification 108 Personnel qualification 10 Physical dimensions 17 Product description JXM IO E02 14 Protective features 113 R Repair 10 S Safety instructions 9 Setting reading the node ID 35 66 Software version 23 102 System Parameters 86 98 T Technical specifications 129 Transport 10 Nameplate 21 U Usage other than intended 10 Jetter AG 139 Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany Phone 49 7141 2550 0 Fax 49 7141 2550 425 info jetter de www jetter de Jetter automation We automate your success
11. IE 110 133 5 the thickness of the mounting surface drill tapped holes is gt 6 mm steel and gt 8 mm aluminum Pre drill 4 2 mm Tap a thread M 5 48 Jetter AG JXM IO E02 Mounting and installation the thickness of the mounting surface drill simple holes is lt 6 mm steel and lt 8 mm aluminum Drill the holes 6 mm Deburr the holes Notes on installation Direct contact between housing and installation surface improves heat dissipation Therefore Generally install the device directly on the installation surface Do not use insulating material Do not use spacers Installing the JXM IO E02 Screw the device down to the installation surface tapped holes Tapped hole Jetter AG 49 4 Mounting and installation Installing the JXM IO E02 Screw the device down to the installation surface through holes Number Deseta OO a ew ewe O Oa 7 Os sewa O O Installing the strain relief Install a strain relief for the connection cable Take care to leave enough space for the connector The connector should not be obstructed so that it can be removed in the event of a service requirement 50 Jetter AG JXM IO E02 Initial commissioning 5 Initial commissioning Introduction This chapter describes how to commission the JXM IO E02 and covers th
12. The default value is 160 8 11 14 Integrator parameter 0 4095 inclusive for PWM 1 2 and 3 The default value is 420 If the value 0 has been entered the following range checking applies Sub index Description Valid range 6 9 12 Predictor parameter The value must be gt 0 and the least PWM 1 2 and 3 significant byte must be gt 0 7 10 13 Error parameter for The least significant byte must be gt 0 PWM 1 2 and 3 8 11 14 Integrator parameter The least significant byte must be gt 0 for PWM 1 2 and 3 Jetter AG 99 6 CANopen objects Converting from old to new parameters Resetting system parameters to their default values The value of parameter PWM software mode sub index 53 is also considered during the validation of the PWM parameters If one or more parameters have an invalid value all PWM parameters including PWM software mode are reset to default If old parameters are selected the JXM IO E02 software will use the old style predictor parameter from sub indexes 6 9 and 12 to calculate an appropriate value for the coil resistance The error parameter and integrator parameter are set to the default values of 160 and 420 respectively The procedure for converting old parameters to new parameters is set out in section PWM output objects index 0x2400 0x2402 This procedure will make all the necessary changes to system parameters The object System Parameter
13. measurements Sub index 83 lets you set the frequency for the 3 PWM outputs The following values are allowed e 0 1 954 kHz default 977 Hz 488 Hz 244 Hz 122 Hz 61 Hz 30 Hz e Omak wWHN Jetter AG 97 6 CANopen objects Validating and setting system parameters Validating system The first check is the system parameter version number This value must not parameter be OxFF If it is this is considered to indicate an unprogrammed EEPROM Therefore all system parameters are set to their default values The next check counts the number of bytes in the system parameters that have a value of OxFF If the count finds more than 50 at this value all system parameters are invalidated and reset to their default values Individual parameters are range checked at start up Each parameter has a specific minimum and maximum value or data pattern that must be adhered to These ranges and or patterns are described in the section above If the value of any parameter does not match the requirements at start up the value of this parameter is reset to the default value If any of the three tests above finds a problem in the system parameters EMCY 0x8002 is triggered Finally the slave controller requests a copy of the system parameters as it is stored in the master controller If the copy from the master controller does not match the slave the master controller is reprogrammed to match the values stored in the sla
14. 6s Lo Pe 7 a ransana ron BEP BC Bu BUT O BUT OO 42 Jetter AG JXM IO E02 Technical data Analog inputs Frequency inputs Technical Data Frequency Inputs H bridge outputs Mounting and installation 0 40V YOAV OOM UY amp amp amp Hts Le GOH 6J 68 SEs 7 Oe Oe Gl Sol JE GI Pin Description O Frequency input 1 55 Frequency input 2 Purpose As frequency counter As digital input Type of inputs Software selectable with either 2 kQ pull up resistor to STANDARD FEED or 2 kQ pull down resistor to ground Frequency measurement 5 Hz 20 kHz range Result of measurement Operating point ON AC signal gt 350 mV for mode 5 Jetter AG 43 4 Mounting and installation Technical data H bridge Parameter Purpose As H bridge As two independent digital inputs As two independent PWM outputs active high and active low Rated output current Accuracy of current measurement for H bridge Short circuit capability Overcurrent detection No load detection 44 Jetter AG JXM IO E02 Mounting and installation 4 2 Installing the JXM IO E02 Introduction This chapter describes how to install the JXM IO E02 Contents Topic Page Installing the JXM IO ED2 22200022220000nnaanannnnannannnnannannnnnnnannnnnnnannnnnnannnn 46 Jetter AG 45 4 Mounting and installation Installing the JXM IO E02 Selecting a place for installation
15. CAN bus to OPERATIONAL status CanOpenSetCommand CAN_CONTROI LLER_0 CAN CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN NMT START End Task CANopen objects see page 57 Jetter AG 55 JXM IO E02 CANopen objects 6 CANopen objects Introduction This chapter covers the CANopen objects implemented on the JXM IO E02 and their functions as well as the permanently mapped process data objects PDO Restrictions Due to design constraints the following restrictions limitations apply to the CANopen interface of the JXM IO E02 SDO expedited transfer only supports 4 byte transfers Any smaller data element must be extended to 32 bit before the SDO transfer SDO segmented transfer is only supported on certain objects Most notably the OS update feature makes use of segmented transfer but also some other objects that need to transfer strings implement SDO segmented transfer for this purpose Unless an object is documented to support segmented transfers assume that it does not SDO block transfer is NOT implemented PDOs are not user configurable PDOs are transmitted only asynchronous on request unless otherwise specified Although emergency messages are transmitted to notify of detected faults the CANopen emergency handling system is not fully implemented The Error Register does not save its state in non volatile memory After each reset or power cycle the error
16. Constant output voltage ratiometric value specified enabled the value will range between 0 1 023 This value range relates to 0 100 of the input voltage With mode Constant output voltage absolute value specified enabled the value specifies the output voltage in mV units If you enter a value that is larger than the maximum value the output voltage will be clipped The maximum output voltage of the analog output will always be slightly less than STANDARD FEED voltage Sub index 4 lets you read out the recently measured output voltage in mV units Jetter AG 73 6 CANopen objects Sub index 5 74 The function of sub index 5 is described below Sub index 5 lets you set the analog output current With mode Constant output current enabled the value specifies the output current in 1 mA units With mode Constant output voltage absolute value specified enabled the value specifies the desired maximum output current If the specified output voltage causes the output current to exceed this value the output is clipped to control the output current The maximum output voltage of the analog output will always be slightly less than STANDARD FEED voltage Sub index 5 lets you read out the recently measured output current in 1 mA units Jetter AG JXM IO E02 CANopen objects Objects PWM Output Index 0x2400 0x2402 PWM Output 1 3 These objects let you configure the three PWM outputs Als
17. Digital output 4 STANDARD rw Current limit 86 Jetter AG JXM IO E02 CANopen objects Der Deserntion Attributes 25 Digital output 5 STANDARD rw Current limit 25 Digital output 6 STANDARD rw Current limit 25 Digital output 7 STANDARD rw Current limit 25 Digital output 8 STANDARD rw Current limit 50 Digital output 9 rw PROTECTED Current limit 50 Digital output 10 rw PROTECTED Current limit 50 Digital output 11 rw PROTECTED Current limit 50 Digital output 12 rw PROTECTED Current limit 50 Digital output 13 rw PROTECTED Current limit 50 Digital output 14 rw PROTECTED Current limit 50 Digital output 15 rw PROTECTED Current limit 50 Digital output 16 rw PROTECTED Current limit i PWM output 2 Mode PWM output 3 Mode Tri state coding enable Digital output No load threshold threshold 100 H bridge No load threshold value hl 2 500 PWM output Current limit rw Digital inputs IN 1 IN 5 Active low active high selection 47 Switch feed output Initial rw output state Jetter AG 87 6 CANopen objects Default Digital outputs No load detection enable PWM No load detection enable H bridge No load detection enable Event based PDO TX enable Digital output Start up current pulse select PWM software mode PWM 1 Control inhibit PWM 2 Control inhibit PWM 3 Control inhibit H bridge Initial output mode Analog outp
18. E02 PDOs are not user configurable PDOs are transmitted only asynchronously on request The following information supports you in commissioning peripheral modules such as JXM IO E02 Initialize the controller as described in the documentation on JCM 350 E03 Send an RTR frame to the peripheral module This parameter is needed once in order to prompt the peripheral module to send the required data to the controller 54 Jetter AG JXM IO E02 Initial commissioning JetSym STX sample program Related topics The following sample program shows how the states of the digital inputs on the JXM IO E02 can be read by a Jetter controller such as JCM 350 Const CAN CONTROLLER 0 0 Node ID of the controller NodeID Node_0 Ox7F Node ID of the I O module NodeID Node 1 0x10 Event Time 100 Inhibit Time 20 End Const Var State of the digital inputs Data_Inputs Word SW Version String End Var Task Main Autorun Software version of the controller SW Version i v4 3 0 Initializing CAN 0 CanOpenInit CAN CONTROLLER _0 NodeID Node 0 SW Version Entering process data to be received CanOpenAddPDORx CAN CONTROLLER 0 CANOPEN PDO1 RX NodeID Node 1 2 CANOPEN WORD sizeof Data_Inputs Data _Inputs Event Time Inhibit Time CANOPEN ASYNCPDORTRONLY All nodes on the CAN bus are in PREOPERATIONAL state Setting all devices on the
19. IN 16 PROTECTED OUT 11 IN 16 PROTECTED OUT 11 Universal I O Ground return 67 Node ID tri state input 1 IN 17 PROTECTED OUT 12 IN 17 PROTECTED OUT 12 Universal 1 O Ground return Node ID tri state input 2 IN 18 PROTECTED OUT 13 IN 18 PROTECTED OUT 13 Universal 1 O Ground return H bridge outputs IN 19 PROTECTED OUT 14 IN 19 PROTECTED OUT 14 Universal 1 O Ground return 70 H bridge outputs IN 20 PROTECTED OUT 15 IN 20 PROTECTED OUT 15 Jetter AG 31 4 Mounting and installation Universal I O 47 Ground return IN 21 PROTECTED OUT 16 IN 21 PROTECTED OUT 16 STANDARD FEED Weight 12 VDC or 24 VDC 32 Jetter AG JXM IO E02 Mounting and installation Connecting the power supply and the 5 V output Introduction The following diagrams show the pinout of the connector as viewed from the front Power supply Eu ee EE oagal elelala eleis slats ee ale eee ac am 24 25 48 Ignition IGNITION FEED STANDARD FEED PROTECTED FEED Pin Description Terminal number in vehicles PROTECTED FEED Terminal 30 12 VDC or 24 VDC Ignition IGNITION FEED Terminal 15 STANDARD FEED Terminal 30 12 VDC or 24 VDC Weight Terminal 31 Weight Terminal 31 IGNITION FEED sources the digital electronics that control the inputs and outputs Ignition must be on for the JXM IO E02 to be active The JXM IO E02 will continue to run on a minimum input voltage of 5 9 V on
20. Parameter Purpose Type of inputs Tri state detection Rated voltage Operating point OFF Operating point ON Appendix DC 8 0 32 0 V Minimum DC 5 9 V Can be activated by means of software For device coding As digital inputs Pull up resistor 22 kOto IGNITION FEED and pull down resistor 276 Q to ground Tri state operation is detected by a pull down resistor to ground IGNITION FEED Jetter AG 129 7 Protection and diagnostic features JXM IO E02 Technical data Digital inputs IN 1 IN 5 Barzmeler Type of inputs Rated voltage Permissible voltage range Operating point OFF Operating point ON Technical data Digital inputs IN 6 IN 13 Type of inputs Parameter Rated voltage Permissible voltage range Operating point OFF Operating point ON Input impedance Technical data Digital outputs STANDARD FEED Type of outputs Parameter Rated voltage Permissible voltage range Signal voltage OFF Signal voltage ON Load current of OUT 1 OUT 8 Short circuit capability Over current detection No load detection Technical data Digital inputs IN 14 IN 21 Type of inputs Parameter Rated voltage Permissible voltage range Operating point OFF Operating point ON Input impedance Software selectable with either 2 KQ pull up resistor to IGNITION FEED or 2 KQ pull down resistor to ground inputs Active high output Yes
21. Stave nootoaderverion m 102 Jetter AG JXM IO E02 CANopen objects Object Slave CAN Termination Index 0x4560 Slave CAN Termination Object Index 0x4560 Sub index 0 This object lets you read out or set the slave CAN bus CANopen termination setting The structure of this object is shown in the table below index Subinden Default eserinion 0x4560 jo Current termination resistor setting Sub index 0 lets you read out the current setting or make changes to it The following values are allowed 0 Termination is disabled 1 Termination is enabled Note that changing the CAN termination in this way is not permanent This setting only has effect until the next time that the device restarts power cycle CANopen reset command writing to system parameters After a restart the JXM IO E02 again assumes the setting that is set in system parameters Jetter AG 103 6 CANopen objects Object Master CAN Termination Index 0x4561 Master CAN Termination This object lets you read out or set the master CAN bus termination setting Object Index 0x4561 The structure of this object is shown in the table below Index Subinden Default Deseripton 0x4561 o Current termination resistor setting Sub index 0 Sub index 0 lets you read out the current setting or make changes to it The following values are allowed 0 Termination is disabled 1 Termination is enabled
22. and the number of CANopen devices connected Cable length Stub length Total stub length Cable lengths 30 Jetter AG JXM IO E02 Mounting and installation Pin assignment Overview Connector pinout The diagram below shows the pinout of the connector as viewed from the front B elolelela Some eels ca eloaeses 9 9 90 9 9ER IE SERIE Description Description Description EEE FEED paper Analog output eure input 1 en VDC or 24 VDC DE ee a Dom 2e Ground Analoginpwt3 152 Angina 5 otanpa Geos Anaoginput 63 Anaogopa 6 Domaine 30 Swichfeedouput1 S4 Freqeneyimuini 7 Doms at Swienfeedoupu2 5 Freeman a Univers IOINGOUT 32 Omundrelmimmour 6 PWMouputi 9 Unversal O NTIOUT2 38 Groundrotum IN7IOUT2 57 PnMomu2 130 UnvesaVOINSOUT 34 GroundretineINIOUTS s6 Prima M Universal IO INGIOUTA 38 Groundretur NIOUT4 59 Ground reum PWM oup 132 Universal VO INIOOUTS 36 Ground retur TOUTS 60 Ground return PWM output 2 138 Universal VOIN TOUTS 37 Ground retur IN TNOUTE 6t Ground retur PWM ouput 144 Unversal VO NIZOUT7 38 Groundretur IN OUT 62 Oro 145 Unverslvo m 110070 39 Groundretu IN IOUT 63 OUT CANH Universal 1 O Ground return IN_CAN_L IN 14 PROTECTED OUT 9 IN 14 PROTECTED OUT 9 17 Universal I O Ground return IN_CAN_H IN 15 PROTECTED OUT 10 IN 15 PROTECTED OUT 10 Universal I O Ground return Regulated output 5 VDC
23. below Use sub index 3 to enable disable the function Auto Increment e 0 Auto increment is disabled e 1 Auto increment is enabled Auto increment works as follows e After either a read or write operation the object will increment the offset in the memory space by the number of bytes that were transferred e Example After a byte read the byte offset is incremented by 1 After a 32 bit write the byte offset is incremented by 4 The function of sub index 4 is described below Read sub index 4 to read a byte from the memory Enter a value into sub index 4 to write a byte in the memory The function of sub index 5 is described below Read sub index 5 to read a 16 bit word from the memory Enter a value into sub index 5 to write a 16 bit word in the memory The function of sub index 6 is described below Read sub index 6 to read a 32 bit word from the memory Enter a value into sub index 6 to write a 32 bit word in the memory When writing to the EEPROM a delay must be implemented after the SDO command The JXM IO E02 first writes to the EEPROM memory This may take a while before the JXM IO E02 transmits the SDO reply This process can take at least 50 ms Therefore it is recommended that a delay of 100 ms be implemented before the next SDO or PDO access to the same JXM IO E02 107 6 CANopen objects 6 2 CANopen PDO Specification Introduction This chapter describes the CANopen PDO specificat
24. description on object 0x2100 sub index 2 Each digital input is represented by a single bit in the 5 bit word Bit 0 Digital input 1 Bit 1 Digital input 2 Bit 4 Digital input 5 Legal bit values are 0 Pull up resistor active low enabled default 1 Pull down resistor active high enabled Sub index 47 lets you set the inital state of the two switch feed outputs at power on Please refer to the description on object 0x2103 sub index 5 The following values are allowed The value must be in the range of 0 3 The default value is 0 selecting both outputs to be disabled Jetter AG JXM IO E02 Digital outputs No load detection enable PWM outputs No load detection enable H bridge No load detection enable Event based PDO TX enable Jetter AG CANopen objects Sub index 48 lets you enable disable the no load detection for the 16 digital outputs Each channel is represented by a single bit in the 16 bit word Bit 0 Channel 1 OUT 1 Bit 1 Channel 2 OUT 2 Bit 14 Channel 15 OUT 15 Bit 15 Channel 16 OUT 16 To enable disable no load detection set the corresponding bit value The following values are allowed 0 No load detection is disabled default for all channels 1 No load detection is enabled No validation is performed on this parameter because all possible values 0 65535 are legal Sub index 49 lets you enable disable the no load detection fo
25. digital outputs No load detection can be enabled or disabled for individual output channels A no load fault can only be detected when a channel is switched on enabled The software implements a function allowing temporary over current This is useful in situations where high peak currents are required A short to ground is reported in the event of a massive overcurrent If an output has experienced at least 4 shorts to ground and or overcurrent faults the software will lock this output to prevent it being switched on again Root cause of the error This error may be caused by the following root causes The programmed limit for over current has been exceeded The load current has exceeded 10 A and the over current situation has exceeded 180 ms The programmed limit for no load has been exceeded One output has experienced at least 4 shorts to ground and overcurrent faults Response of the module The module responds to this error in the following levels to this error Step Description 1 The module will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Error type Error code Error register Short to GND 0x9000 0x9007 1 Overcurrent 0x2300 0x2307 1 No load cable breakage 0x23A0 0x23A7 1 Lock out 0x5300 0 Jetter AG 117
26. do not make practical sense for the JXM IO E02 and are therefore not allowed The following values are allowed The legal range for values is between 250 and 65 535 ms The default value is 1000 Please refer to the description on object 0x2400 sub index 8 10 The parameters of sub index 15 18 let you select the initial mode for the analog inputs at power on These parameters correspond to objects 0x2200 0x2203 sub index 2 For mode current measurement the following values with their predefined value ranges are allowed 0 0 5 V default 1 0 40V 4 0 5 V with the pull up resistor 240 Q enabled 5 0 40 V with the pull up resistor 240 Q enabled 16 0 20 mA with the pull up resistor 240 Q enabled 20 0 5 V with the pull up resistor 240 Q enabled All other values are illegal The parameters of sub index 19 26 let you set the current limits for the digital outputs STANDARD FEED The data is in units of 100 mA i e 1 100 mA 25 2 5 A The following values are allowed The current limit must be in the range 1 30 100 mA 3A The default value is 25 2 5 A The parameters of sub index 27 34 let you set the current limits for the digital outputs PROTECTED FEED The data is in units of 100 mA i e 1 100 mA 25 2 5 A The following values are allowed The current limit must be in the range 1 55 100 mA 5 5 A The default value is 50 5 A
27. index 0x4556 lets you reset system parameters to their default values To prevent accidental triggering of this function it is locked To release this function proceed as follows Step Action 1 First write to 0x4556 sub index 1 version the unsigned 32 bit value 0x01042006 2 Then write the unsigned 32 bit value 0xC1EA5AFE to the same sub index 3 Wait a few seconds gt When the JXM IO E02 receives the second code correctly it will immediately reset the parameters in EEPROM If a wrong code is entered at any stage the JXM IO E02 will respond with a general CANopen error message Then you must repeat the whole procedure 100 Jetter AG JXM IO E02 CANopen objects Object OS Status Index 0x4557 OS Status Object The structure of this object is shown in the table below This read only object Index 0x4557 provides access to some useful information Inox Subindox Default eserption 0x4557 o b Number of entries h b System parameters Write status PCB revision number System parameters fault Sub index 1 The function of sub index 1 is described below F Tr Sub index 1 returns the status of writing system parameter data to the EEPROM As long as the writing process is still ongoing this sub index will return a non zero value 0 indicates that the process has finished Note that during the writing to EEPROM it is possible that reading this sub index could result in a CAN
28. list is cleared Contents Topic Page CANopen object dictionary for JXM IO ED2 uunssnsnnnssnnnnnnennnnnnnennnn 58 CANopen PDO Specification 4444440onsnnennennnnnnnennnnnnnennennnennnnen 108 Jetter AG 57 6 CANopen objects 6 1 CANopen object dictionary for JXM IO E02 Purpose of this chapter This chapter describes the CANopen objects implemented on the JXM IO E02 and their function Supported objects There are objects which are mandatory according to the CANopen specification These objects are not covered in this document The table below lists the objects which are covered in this document Je TE code 1000 Device Device type 01 TE 100A Manufacturer software per for Page 60 version fame defo EEE joe ently RECORD Mm 58 Jetter AG JXM IO E02 CANopen objects Contents Topic Page Objects ranging from index 0x1000 through 0x2000 2 mer nn 60 Object Digital Outputs Index Ox2100 uum22s440unnssnnnnnnnnnnnnnnnnn nennen 62 Objekt Digital Universal I O Index 0x2101 u 222404424440n ernennen 64 Object Tri state Input Index 0x2102 0u0224400nnssnnnnnnnnnnnnnnsnnnnnn nn 66 Object Switch Feed Output Index 0x2103 uur 224400ns nennen 68 Objects Analog Input Index 0x2200 0x2203 nennen 69 Object Voltage Sense Analog Input Index 0X2210 nn 71 Object Fe
29. of operation Jetter AG Introduction Significance of this This document is an integral part of the JXM IO E02 User Manual Keep this document in a way that it is always at hand until the JXM IO E02 will be disposed of Pass this document on if the JXM IO E02 is sold or loaned leased out In any case you encounter difficulties to clearly understand the contents of this document please contact Jetter AG We would appreciate any suggestions and contributions on your part and would ask you to contact us at the following e mail address info jetter de Your feedback will help us produce manuals that are more user friendly as well as address your wishes and requirements This document contains important information on the following topics Transport Mounting Installation Programming Operation Maintenance Repair Therefore you must carefully read understand and observe this document and especially the safety instructions In the case of missing or inadequate knowledge of this document Jetter AG shall be exempted from any liability Therefore the operating company is recommended to obtain the persons confirmation that they have read and understood this manual in writing 4 Jetter AG JXM IO E02 Introduction Hazard levels Introduction This topic describes the safety labels and hazard levels used in this manual Safety labels Signs using this symbol are to warn you of injuries or even death Follow
30. page 29 36 Jetter AG JXM IO E02 Mounting and installation Connecting Digital Inputs and Outputs Introduction The following diagrams show the pinout of the connector as viewed from the front Digital inputs B a e DD Eee g u e o t t e e ey 3 SIZIEI YolsIsle ee JE Be esernton a Dott OO a aa Digital input 2 Digital input 3 6 Digital input 4 Digital input 5 Technical data Digital inputs IN 1 IN 5 Type of inputs Software selectable with either 2 kQ pull up resistor to IGNITION FEED or 2 KQ pull down resistor to ground Rated voltage STANDARD FEED Permissible voltage range DC 8 32V Digital Universal I Os STANDARD Jetter AG 37 4 Mounting and installation Technical data Digital inputs IN 6 IN 13 Technical data Digital outputs STANDARD FEED 38 Pin scription Ground return IN 6 OUT 1 Ground return IN 7 OUT 2 Ground return IN 8 OUT 3 Ground return IN 9 OUT 4 Ground return IN 10 OUT 5 37 Ground return IN 11 OUT 6 Ground return IN 12 OUT 7 Ground return IN 13 OUT 8 Can be configured as active high Type of inputs Rated voltage Permissible voltage range Operating point OFF Operating point ON Input impedance inputs STANDARD FEED DC 8 32 V lt 51 of IGNITION FEED gt 51 of IGNITION FEED 100 kQ Type of outputs Rated voltage Permissible voltage range Signal voltage OFF Signal voltage ON Load current of OUT 1
31. states duty cycle 6 1 023 Parameter 0 Maximum output ro value 7 7 Parameter 1 Bridge configuration ro Sub index 2 The function of sub index 2 is described below Sub index 2 lets you select between the following modes of operation e 0x01 The two output channels pins 69 and 70 are used as independent digital outputs e 0x02 The output connected to pin 69 is a PWM controlled high side output whereas the output connected to pin 70 is always low e 0x04 The output connected to pin 70 is a PWM controlled high side output whereas the output connected to pin 69 is always low To select one of the above modes enter the corresponding value into sub index 2 Sub index 4 The function of sub index 4 is described below Sub index 4 lets you read out the recently measured current in mA units Note that current measurement is not available when the H Bridge outputs are used as independent digital outputs Sub index 5 The function of sub index 5 is described below When the H Bridge outputs are used as two independent digital outputs the least significant byte sets the output state e Bit 1 0 Pin 69 is set as output e Bit 5 4 Pin 70 is set as output Inthe configuration as two independent digital outputs the following data values are possible e 0b00 Tri state output 80 Jetter AG JXM IO E02 CANopen objects e 0b01 Output state OFF e 0b10 Output state ON In PWM controlled mode a value i
32. the instructions given in the corresponding topic to prevent hazards Hazard levels Safety information is classified into the following hazard levels Hazard level Consequences Probability A DANGER Death severe injury irreversible The hazard is imminent Death severe injury irreversible Potential occurrence Slight injury reversible Potential occurrence Material damage Potential occurrence Jetter AG 5 JXM IO E02 Contents Table of Contents Hazard levels sense Max uadditenahidedadghdatGeranchceasaaddduanaked Gassiddandaaddugsataleds 5 1 Safety instructions 9 Basic safety instructions u 22440444ssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ann 10 Residual dangers and protective measures 40ss2s440ennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ann 12 2 Product description and design 13 JXM IO E02 Product description 0ss44442444nnnnnenennnnnnnnnnnnnennnnnnnnnnnnnnnennnnnnn nennen 14 Patts And Interfaces aussah a a Ha nn nern he nnd a Fe 15 Order U 7 1 1K 10 01 7 e 6 1 0 1 JPRSABERERIFLERUBERESEEENSURDENEEBEEUEPEIFETEREEUERLEFEUFEUBEUBREEELEEFTFELERUENBREERERTEUEUESETHEESEFFESEGER 16 Physicalidimensions 2 ee saacuda vans dave sdbeuehesn ceues saa cuetvoasddewesaleectnens ccaresnts 17 3 Identifying the module 19 3 1 Identification by means of the nameplate uesnnnsnnnsnnnnnnnnnnnnnnnnnnnnnnnnnn
33. the problem and will disable all four outputs in the case of a problem Overcurrent and no load faults have user selectable thresholds These can be set through the System Parameters interface Short circuit fault is triggered when a massive overcurrent occurs either in a high side switch or in a low side switch This can trigger regardless of the output mode of the H bridge If an output has experienced at least 5 short circuit and or overcurrent faults the software will lock this output to prevent it being switched on again This error may be caused by the following root causes The programmed limit for over current has been exceeded The programmed limit for no load has been exceeded Ashort circuit to ground has occurred One output has experienced at least 5 short circuit and overcurrent faults The module responds to this error in the following levels Step Description 1 The module will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Error type Error code Error register Short to GND 0x9021 1 Overcurrent 0x2321 1 No load cable breakage 0x2331 1 Lock out 0x5200 o Jetter AG 121 7 Protection and diagnostic features JXM IO E02 Switch feed outputs 1 2 Detecting the error Root cause of the error Respons
34. values are possible e 0 An error has occurred e 1 Normal operation no error Sub index 5 The function of sub index 5 is described below Sub Index 5 lets you enable disable the output state of both switch feed channels Sub index 5 uses the one bit per channel data structure described below e Bit 0 Switch feed output 1 e Bit 1 Switch feed output 2 The following values are allowed e 0 Disable the switch feed output e 1 Enable the active high switch feed output Sub index 6 Sub index 6 lets you read out the number of available switch feed outputs Digital active low side Switch feed outputs can also be used as digital active low side outputs If an outputs output is disabled and no load is connected to it then status bit in sub index 4 is 0 If there is a low resistance connection to ground then status bit 4 is 1 68 Jetter AG JXM IO E02 CANopen objects Objects Analog Input Index 0x2200 0x2203 Analog Input Index 0x2200 0x2203 Sub index 2 This object lets you configure the analog inputs 1 4 The analog input signal can be read out as process value The structure of these objects is shown in the table below Index Sub index Default Description Attributes 0x2200 O 7 Number of entries ro read only 0x2203 1 0 Not used 2 0 Operating mode rw read amp write 3 0x30 Not used 4 0 Process value 0 Analog input ro signal 5 0 Process value 1 Analog input ro signal mV
35. 131 2 DIN EN 60068 2 1 DIN EN 60068 2 2 Air humidity 10 95 DIN EN 61131 2 Climate test Humid heat DIN EN 60068 2 30 Pollution degree 2 DIN EN 61131 2 Mechanical parameters Value Vibration resistance Vibration broadband noise DIN EN 60068 2 6 Severity level 2 Shock resistance 30 g occasionally 18 ms DIN EN 60068 2 27 sinusoidal half wave 3 shocks in the directions of all three spatial axes Degree of protection IP68 only if the individual DIN EN 60529 wires of the mating connector are sealed Jetter AG 137 7 Protection and diagnostic features JXM IO E02 Operating parameters EMC EMC Emitted interference EMC Immunity to This device has been tested as per Directive 72 245 EEC with all amendments up to 2009 19 EC and meets all test criteria Interference immunity to Compliant Directive 72 245 EEC conducted faults with all amendments including 2009 19 EC Interference immunity to 20 1 000 MHz 100 V m Directive 72 245 EEC external magnetic field 1 000 2 000 MHz MHz 30 with all amendments Vim including 2009 19 EC Load dump Impulse 5b 70 V ISO 7637 2 138 Jetter AG JXM IO E02 Index B Index C CANopen bus cable Specification 29 CANopen objects 57 Digital inputs and outputs 62 64 Setting reading the node ID 35 66 System Parameters 86 98 Components of the JXM IO E02 15 Connector specification 27 D Diagnostic Features 113
36. 16 bit word R W rw access 6 32 bit word R W rw access Sub index 1 The function of sub index 1 is described below To use this object enter the byte offset inside the memory space in sub index 1 If the byte offset is less than zero the CANopen error Value of parameter written too low is returned If the byte offset is larger than the value in sub index 2 default value 1 024 the CANopen error Value of parameter written too high is returned Also if the byte offset is set to one of the last byte values and an attempt is made to read or write a 16 bit or 32 bit word which would cause reading writing outside the memory space the General error message is returned Unfortunately CANopen doesn t have an error code that accurately describes this condition Example If the byte offset is 1 022 and an attempt is made to read a 32 bit word this would normally try to read beyond the last memory address of 1023 This is not allowed and the message General error is returned Sub index 2 The function of sub index 2 is described below 106 The JXM IO E02 offers 1 kByte of EEPROM memory space But for some special devices the amount may differ Reading sub index 2 returns the available memory size in bytes This sub index is read only Jetter AG JXM IO E02 Sub index 3 Sub index 4 Sub index 5 Sub index 6 Delay Jetter AG CANopen objects The function of sub index 3 is described
37. 3 2 Tri state input 2 pin 68 The following values are allowed 0b00 Tri state not connected 0b01 Input state OFF 0b10 Input state ON 0b11 Not used Sub index 6 Sub index 6 lets you read out the number of available inputs In the given case two inputs are available 66 Jetter AG JXM IO E02 Calculating the node ID based on tri state input state Changing the default node ID 0x10 Jetter AG CANopen objects The following table shows the resulting node ID given that the default base ID of 0x10 is used The node ID is stored in the internal EEPROM and is read out during the boot process For special applications the object System Parameters index 0x4556 sub index 4 lets you change the value stored in the EEPROM 67 6 CANopen objects Object Switch Feed Output Index 0x2103 Switch Feed Output This object lets you enable or disable the two switch feed outputs The Index 0x2103 structure of this object is shown in the table below index Subindex Defaut Deserpten Atributos oe o 8 INumbersfenten ro edon n oe VE 7 a a e a nets 4 Process value 0 Information on the state 5 Process value 1 rw read amp Output state write 2 Parameter 0 Number ro of outputs Sub index 4 Sub index 4 returns the following status information on the switch feed outputs Bit O represents switch feed output 1 Bit 1 represents switch feed output 2 The following bit
38. 5 Channel 16 OUT 16 Depending on the bit value the output state is as follows e 0 Output state OFF e 1 Output state ON Sub index 6 lets you read out the number of available inputs outputs In the given case 16 inputs outputs are available 65 6 CANopen objects Object Tri state Input Index 0x2102 Purpose of tri state Tri state inputs are generally used for obtaining the node ID or changing the inputs default node ID device coding However in applications where device coding is not required these inputs can be freely used as general purpose digital inputs This may be the case if only one JCM 350 E03 or JXM IO E02 is connected to the CAN bus Object System Parameters Index 0x4556 sub index 38 lets you disable the flag Tri state Coding Enable To do so enter the value 0 Tri state input The object Tri State Inputs is read only Read this object to obtain the states Index 0x2102 of the tri state inputs The structure of this object is shown in the table below index Subindex Defaut Deseripton tributes ome o 6 Mmao ini m Process value 0 C states Process value 1 Not used 2 Parameter 0 Amount ro of inputs Sub index 4 Sub index 4 lets you read out the latest measured states of the two tri state inputs Because each input can be in one of three different input states sub index 4 uses the two bit per channel data structure described below Bit 1 0 Tri state input 1 pin 67 Bit
39. 7 Protection and diagnostic features JXM IO E02 Digital Outputs 9 Detecting the error Root cause of the error Response of the module to this error 16 Safety Outputs A threshold can be programmed for both over current and cable breakage no load via the System Parameters interface Over current limit can be set to between 100 mA and 5A per channel The no load threshold can be set between 50mA and 250mA Note that this no load threshold is shared for all digital outputs No load detection can be enabled or disabled for individual output channels Therefore a no load fault can only be detected when a channel is switched on enabled The software implements a function allowing temporary over current This is useful in situations where high peak currents are required A short to ground is reported in the event of a massive overcurrent If an output has experienced at least 4 shorts to ground and or overcurrent faults the software will lock this output to prevent it being switched on again This error may be caused by the following root causes The programmed limit for over current has been exceeded The load current has exceeded 10 A and the over current situation has exceeded 180 ms The programmed limit for no load has been exceeded One output has experienced at least 4 shorts to ground and overcurrent faults The module responds to this error in the following levels Step Description 1 The mo
40. AN bus is enabled default value 0x02 Resistor at the beginning of the CAN bus is enabled 0x03 Both resistors are enabled When using the built in CAN termination resistors keep the following fact in mind If a device with enabled CAN termination resistors fails the whole CAN communication breaks down This parameter lets you select the CAN Baud rate The following values are allowed e 0 125 kBaud e 1 250 kBaud default e 2 500 kBaud e 3 1 MBaud Even with coding via tri state inputs 1 pin 67 and 2 pin 68 enabled this parameter lets you set the node ID of the JXM IO E02 If the device is configured NOT to use the tri state inputs 1 and 2 for selecting the node ID then the value stored in this parameter will be the final node ID The following values are allowed The value is in the range of 0x01 and 0x76 The default value is Ox10 Jetter AG 89 6 CANopen objects CANopen heartbeat time period PWM Predictor proportional and integrator parameters Analog input mode selection Digital outputs 1 8 STANDARD Current limit Digital outputs 9 16 PROTECTED Current limit Digital outputs 1 16 Current measurement 90 This is the time period specified in milliseconds ms at which the JXM IO E02 will transmit a CANopen heartbeat message The own heartbeat status is sent as content of this message Time periods less than 250 ms are allowed by CANopen but
41. Current controlled operation default 2 Static duty cycle operation default When this parameter is set to 1 the JXM IO E02 will use the tri state inputs to calculate its node ID Set this parameter to 0 in order to disable this function The default value is 1 Sub index 39 lets you set the no load detection threshold for the 16 digital outputs The threshold is specified in milliamps The following values are allowed The allowed range is 50 250 50 mA 250 mA The default value is 100 100 mA When a digital output s load current is low less than 1 A the current measurement becomes inaccurate refer to section Digital outputs 1 16 Current measurement If a threshold current of 100 mA is specified it is likely that the actual measured current is 126 mA Sub index 40 lets you set the no load detection threshold for the 3 PWM outputs No load detection is available only in static PWM duty cycle output mode no current control The threshold is specified in milliamps The following values are allowed The allowed range is 10 1 000 10 mA 1 000 mA The default value is 100 100 mA Jetter AG 91 6 CANopen objects Frequency input Mode selection H bridge Current limit H bridge Threshold for no load detection PWM output Current limit Digital inputs 1 5 Bias value Switch feed output states 92 Sub index 41 42 let you select the initial
42. IGNITION FEED in order to survive engine cranking ISO 7637 2 Test Pulse 5 compliant In general the following conditions apply The JXM IO E02 is designed to work with an input power voltage range of 8 V up to 32 V The maximum current draw on this line is 2A STANDARD FEED provides power for some of the outputs of the JXM IO E02 The maximum current draw on this line is 20 A The input current on STANDARD FEED is monitored by the JXM IO E02 PROTECTED FEED provides power for some of the outputs of the JXM IO E02 The maximum current draw on this line is 20 A If an error occurs the internal protection circuits switch off the outputs PROTECTED FEED is protected by solid state switches If the current current consumption exceeds 30 A or if one of the microcontrollers is defective the solid state switches are disabled by the redundant microcontrollers Jetter AG 33 4 Mounting and installation Note on ignition Power Supply Technical Data Note on current consumption Regulated 5 V output Technical data Regulated output To launch the JXM IO E02 pin 2 IGNITION FEED must be connected with pin 24 STANDARD FEED The ignition control signal is issued when the key is in position Ignition ON Rated voltage DC 12 V or DC 24 V Permissible voltage range DC 8 32 V Current consumption at 12 V without load 120 mA Current consumption at 24 V without load 100 mA The base current consumption is
43. Jetter automation User Manual JXM IO E02 O Modul am CAN Bus 60877286 We automate your success Introduction Variant Jetter Item 60877286 Revision 3 29 2 Februar 2015 Printed in Germany This document has been compiled by Jetter AG with due diligence and based on the known state of the art In the case of modifications further developments or enhancements to products shipped in the past a revised document will be supplied only if required by law or deemed appropriate by Jetter AG 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 The logos brand names and product names mentioned in this document are trademarks or registered trademarks of Jetter AG of associated companies or other title owners and must not be used without consent of the respective title owner 2 Jetter AG JXM IO E02 Address Assignment to product Introduction How to contact us Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany Phone Switchboard 49 7141 2550 0 Phone Sales 49 7141 2550 433 Phone Technical Hotline 49 7141 2550 444 Fax Sales 49 7141 2550 484 E mail Sales sales jetter de E mail Technical Hotline hotline jetter de This User Manual is an integral part of JXM IO E02 Type Serial Year of manufacture Order To be entered by the customer Inventory Place
44. Note that changing the CAN termination in this way is not permanent This setting only has effect until the next time that the device restarts power cycle CANopen reset command writing to system parameters After a restart the JXM IO E02 again assumes the setting that is set in system parameters 104 Jetter AG JXM IO E02 CANopen objects Object Electronic Name Plate Index 0x4565 Electronic Name Plate The structure of this object is shown in the table below Object Index 0x4565 index Subindox Default Description oases jo 8 Number o gt t o Veson number ofthe electronic name plate Oo be p fmm 8 rut seretnumber OO tem number ron Sub indexes 3 4 5 The function of sub indexes 3 5 is described below Sub indexes 3 4 and 5 return strings containing the following information Serial number of JXM IO E02 32 characters Item number 16 characters Revision number of JXM IO E02 16 characters Jetter AG 105 6 CANopen objects Object User EEPROM Access Index 0x5000 User EEPROM Access The structure of the object User EEPROM Access is shown in the following Index 0x5000 table This object grants the user read write access to the EEPROM Index Sub index Default Description Attributes 0x5000 0 6 Number of entries ro read only 1 0 Byte offset inside rw read amp memory space write 2 1 024 Size of memory in ro bytes 3 1 Auto increment ro 4 Byte R W access rw 5
45. Reading back output states reading out input states Parameter 0 Number of inputs outputs Sub index 1 The function of sub index 1 is described below Sub index 1 lets you enable individual channels To enable a channel enter its number 1 16 into sub index 1 Reading out sub index 1 will always return the value 0 Sub index 2 The function of sub index 2 is described below Sub index 2 lets you disable individual channels To disable a channel enter its number 1 16 into sub index 2 Reading out sub index 2 will always return the value 0 64 Jetter AG JXM IO E02 Sub index 4 Sub index 5 Sub index 6 Jetter AG CANopen objects The function of sub index 4 is described below Sub index 4 lets you retrieve the current state of IN 6 IN 21 In addition it lets you read back the states of OUT 1 OUT 15 In sub index 4 each bit is assigned to a channel e Bit 0 Channel 1 IN 6 or OUT 1 e Bit 1 Channel 2 IN 7 or OUT 2 eo e Bit 14 Channel 15 IN 20 or OUT 15 e Bit 15 Channel 16 IN 21 or OUT 16 If auniversal I O is used as digital input the related digital output must be disabled OFF The function of sub index 5 is described below Sub index 5 lets you set or reset the digital outputs OUT 1 OUT 16 In sub index 5 each bit is assigned to a channel e Bit 0 Channel 1 OUT 1 e Bit 1 Channel 2 OUT 2 e Bit 14 Channel 15 OUT 15 e Bit 1
46. Standard Outputs eee eeeeeeeeeeenteeeeeeneeeeeeaas 117 Digital Outputs 9 16 Safety Outputs oe eeee ee eeteeeeeenteeeeeenaeeeeeeaas 118 Analog output 3 2 4 E davedeesiadics 119 PWM outputs 1 3 4 ee eis 120 H bridge 202420000e cisedececvacccdessiecacevsacecerssdntscssietececvarecceesieticensieederssieda 121 Switch feed outputs 1 2 2 cuuussssssnsennsnennnnnnnnnnennanennnnennnnnnnnonnnr nennen 122 Safety switch solid state relay s 2244444444nnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 123 5 V reference ulputs une en een nen nad 124 Generic fault detection ne een 125 Jetter AG JXM IO E02 Protection and diagnostic features JXM IO E02 Standard feed power input STANDARD FEED Detecting the error The input current on STANDARD FEED is monitored by software The software will issue an over current error notification if the current exceeds 30A The software implements a function allowing temporary over current This is useful in situations where high peak currents are required The battery voltage at the STANDARD FEED terminal is monitored by software If the voltage is below 5 V for more than 30 seconds the error message Battery voltage too low is triggered If the voltage exceeds 32 V for more than 64 seconds the error message Battery voltage too high is triggered Root cause of the error This error may be caused by the following root causes The maximu
47. a Sheet EDS information Numerous production relevant data are permanently stored in the EDS Determining the OS version of software components To be able to identify the JXM IO E02 the following prerequisites must be fulfilled The module is connected to a controller and a PC via CANopen bus Communication with the module takes place via CANopen If you wish to contact the hotline of Jetter AG in case of a problem please have the following information on the JXM IO E02 ready Serial number Software version Hardware revision Topic Page Identification by means of the nameplate ursnnesennnnenennnnnnennnnenenn 20 Identification via CANopen DUG cccccccceeeeeeeceececeeeeeeeseecueaeeeeeeesetennaees 22 19 3 Identifying the module 3 1 Identification by means of the nameplate Introduction The nameplate is attached to the housing of the JXM IO E02 and contains details such as hardware revision number and serial number If you wish to contact the hotline of Jetter AG in case of a problem please have this information ready Contents Topic Page Nameplate nisnin ena e a a a 21 20 Jetter AG JXM IO E02 Identifying the module Nameplate Nameplate The nameplate of a JXM IO E02 contains the following information 1 2 Ip 3 lt SAN 20110112690003 Jetter TIAA NN JXM IO E02 G06 K00 en Description Module type Item number Hardware revision
48. aa aaia 129 PHYSICAlIGIMENSIONS enea O S 135 Operating parameters Environment and mechanics eecceececeeeeeeeeeeeeeeeeeeeeeeesnaeeneees 137 Operating parameters EMC nannten a ehe ken 138 WIND OX Gerne EEE E 139 Jetter AG JXM IO E02 Safety instructions 1 Safety instructions Introduction This chapter informs the user of basic safety instructions It also warns the user of residual dangers if there are any Contents Topic Page Basic safety instr ctions n nennen 10 Residual dangers and protective measures ccecceceeeeeeeeeeeteeeeeeeeetees 12 Jetter AG 9 1 Safety instructions Basic safety instructions Introduction This device complies with the valid safety regulations and standards Jetter AG attaches great importance to the safety of the users Of course the user should adhere to the following regulations Relevant accident prevention regulations Accepted safety rules EC guidelines and other country specific regulations Intended conditions of Intended conditions of use include operation in accordance with this User use Manual The JXM IO E02 has been designed as a peripheral module for use in commercial vehicles and mobile machines and is intended for connection to an already existing controller The peripheral module JXM IO E02 has been designed for various input and output signals The JXM IO E02 meets the requirement of the European Automotive EMC Directiv
49. able 5 Frequency input with low operating point and hysteresis for Variable Reluctance Sensor Sub index 2 lets you read out the current operating mode Sub index 4 The function of sub index 4 is described below In frequency input mode sub index 4 lets you read out the value of the latest measured period length The returned value is a 32 bit unsigned integer specifying the period length of the signal in nanoseconds This result is updated every 17 or 18 cycles of the external signal 82 Jetter AG JXM IO E02 CANopen objects Sub index 5 The function of sub index 5 is described below In digital input mode sub index 5 lets you read out the current state of input pin 54 or 55 The following values are allowed e 0 Input state OFF e 1 Input state ON Sub index 7 The function of sub index 7 is described below The two Frequency Input circuits will always count pulses on these inputs regardless of their input mode The pulse period must not be less than 1 millisecond The pulse must be active for at least 1 millisecond each period in order to be counted The pulse count always starts at zero at power on reset The value is also reset to zero every time that it is read via this SDO The returned value is a 32 bit unsigned integer The frequency of the input signal must be less than 500 Hz Jetter AG 83 6 CANopen objects Object 5 V Output 0x2800 5 V Output The structure o
50. access to the same JXM IO E02 Setting PWM parameters Version 3 or higher of the JXM IO E02 software uses a different PWM current control algorithm Please refer to the section PWM output objects Index 0x2400 0x2402 for information about the new PWM control algorithm As a result of this change the control parameters had to change accordingly But for compatibility the system parameters index 0x4556 will allow control parameters based on both the old and new algorithm Therefore if an older JXM IO E02 is upgraded from software version 2 to software version 3 the old PWM parameters will still work The system parameters at sub indexes 6 14 can stay exactly as before or it can change to new values The new parameter PWM software mode sub index 53 lets you select between old and new parameters The default value for this parameter is to use old parameters The three least significant bits of this parameter let you set the mode for each PWM output individually Each bit corresponds to a PWM output Bit 0 PWM 1 Bit 1 PWM2 Bit2 PWM3 Legal bit values are 0 Old parameters 1 New parameters If the value 1 has been entered the PWM system parameters change as listed below Sub index Description Valid range and default 6 9 12 Coil resistance for 250 65278 inclusive PWM 1 2 and 3 The default value is calculated during auto tuning 7 10 13 Error parameter for 0 4095 inclusive PWM1 2 and3
51. age 1 Production date Day 1 Production date Day ee ee O e Page Produn aa Year m rage test cove numero fe rage test coe versione is Page mii 0s verion ro Jetter AG 85 6 CANopen objects Object System Parameter Index 0x4556 System Parameters Index 0x4556 Use the object System Parameters to permanently change the parameters mentioned below Any changes made to these parameters are stored in non volatile memory and are therefore recovered when the JXM IO E02 is next powered up The device must be rebooted for the changes to take effect Note that some of these settings can also be set using other SDO objects However the System Parameters object is the only way to make these changes permanently 0x4556 o oO w wo 0x10 1 000 0x0A16 0x0302 0x0101 0x0A16 0x0302 oO 0x0101 0x0A16 0x0302 gt N N N e a N oi wo NI ojo NI DI A vJ Nj gt 0x0101 v OO O a oa oO N oa N o N N oa Default Description tributes Number of entries ro read only CAN bus termination rw read amp write CAN baud rate CANopen node ID CANopen heartbeat time period PWM 1 Predictor parameter parameter parameter parameter Analog input 3 Mode select Analog input 4 Mode select Digital output 1 STANDARD rw Current limit Digital output 2 STANDARD rw Current limit Digital output 3 STANDARD rw Current limit
52. cially the analog input PDO be requested by remote request RTR at regular intervals in addition to event triggering Jetter AG 111 6 CANopen objects Time restrictions for Automatic transmission means transmission of a PDO message which has automatic transmission not been requested by a CAN RTR message Usually this implies that the of PDOs PDO transmission has been triggered by an input change event Since software version 3 09 0 00 new system parameters have been added to configure time restrictions on these automatic transmissions 1 Minimum cycle time A minimum period of time must pass between consecutive PDO messages transmitted This is to prevent CAN bus overload when an input is changing very rapidly Whenever a PDO message is transmitted this delay timer is reset This also applies the PDO message being transmitted due to a received CAN RTR message The default delay time is set to 100 ms This feature can be disabled for individual PDO channels 2 Maximum cycle time Amaximum period of time between PDO transmissions is also specified Once this period has elapsed a PDO with the current data is automatically transmitted if e no CAN RTR messages have been received e no input change event has triggered transmission of the PDO This ensures that e the PDO data is always received by the external controller e there is never a doubt whether the JXM IO E02 is still monitoring its inputs Restrictions Due
53. code to the controller Jetter AG 123 7 Protection and diagnostic features JXM IO E02 5 V reference output Root cause of the error This error may be caused by the following root causes The limit for overcurrent has been exceeded Ashort circuit to ground has occurred 5V output has turned off Response of the module The module responds to this error in the following levels to this error EM The module will send a CANopen emergency object to the controller zZ The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code 124 Jetter AG JXM IO E02 Protection and diagnostic features JXM IO E02 Generic fault detection Fault description Internal communication failure Internal temperature failure Reset of system parameter conflict RX PDO timeout The JXM IO E02 can also detect certain faults which are not directly linked to a specific input or output These faults are listed in the table below Internal communication failure Internal temperature System parameter reset RX PDO timeout CAN passive mode Bus off recorder If the internal communication of the JXM IO E02 fails this error is reported If this event occurs certain inputs and or output may no longer be controllable and the external controller should consider it a serious failure The internal t
54. cts Composition of Standard Error Field 2 byte LSB Error code 2 byte MSB Additional information The structure of the object Manufacturer Software Version is shown in the following table Use only the STX function CanOpenUploadSDO to determine the version of the software running in the JXM IO E02 The version string has a length of 9 characters and is of the format 2 00 0 00 The first digit is the major revision followed by the minor revision and the branch and beta indicators which will usually be zero This value is read only ro The structure of the object Producer Heartbeat Time is shown in the following table Desert Ati 0x1017 1 000 ms Heartbeat time rw read amp write The legal range for values is 250 65 535 The structure of the object Features is shown in the following table 0x2000 jo Features Object ro read only This object is only provided for compatibility reasons Jetter AG 61 6 CANopen objects Object Digital Outputs Index 0x2100 Digital Input The structure of this object is shown in the table below This object is for Index 0x2100 configuring the digital inputs IN 1 IN 5 and for retrieving their states Index Sub index Default Description Attributes 0x2100 0 6 Number of entries ro read only 1 0 Not used 2 0 Active high active low rw read amp selection write 3 1 Not used 4 0 Process value 0 Input ro states 2 bits channel 5 0 Process
55. d in a humid environment we recommend to use single wire seals sealing plugs Single wire seals large contacts Single wire seals small contacts Jetter AG 27 4 Mounting and installation Example The illustration shows an example of a wiring layout 1 2 3 4 5 6 al e Fi Number Desenpton O E77 O 2 men O a ooreen OO 4 ni Cs es O BEL HL 2 OOOO O O 28 Jetter AG JXM IO E02 Mounting and installation CAN bus cable Specification Diagram of the CAN bus Wire up Jetter AG CANopen devices in accordance with the following wiring diagram CAN bus Jetter AG CANopen devices There is an option to enable a resistor in the device as a bus termination resistor of 120 Ohm The stub length with this type of wiring is almost zero The CAN_L and CAN_H cables must be twisted together and shielded Specification CAN bus aor cable Core cross sectional area 1000 kBaud 0 25 0 34 mm 500 kBaud 0 34 0 50 mm 250 kBaud 0 34 0 60 mm 125 kBaud 0 50 0 60 mm Cable capacitance 60 pF m max Resistivity 1000 kBaud 70 Q km max 500 kBaud 60 Q km max 250 kBaud 60 Q km max 125 kBaud 60 Q km max Shielding Complete shielding no paired shielding Core pairs CAN_L and CAN_H are twisted Jetter AG 29 4 Mounting and installation The maximum permitted cable length depends on the baud rate used
56. dge of and experience with automotive automation technology such as automotive engineers for mobile machinery Operation Trained instructed and assigned personnel with knowledge in operating electronic devices for mobile machinery 10 Jetter AG JXM IO E02 Modifications and alterations to the module Transport Storing Repair and maintenance Disposal Safety instructions Product life cycle Minimum qualification Decommissioning Specialized personnel with training in disposal electrical automotive engineering such as automotive mechatronics fitters For safety reasons no modifications and changes to the device and its functions are permitted Any modifications to the device not expressly authorized by Jetter AG will result in a loss of any liability claims to Jetter AG The original parts are specifically designed for the device Parts and equipment from other manufacturers have not been tested by Jetter AG and are therefore not released by Jetter AG The installation of such parts may impair the safety and the proper functioning of the device Any liability on the part of Jetter AG for any damages resulting from the use of non original parts and equipment is excluded The JXM IO E02 contains electrostatically sensitive components which can be damaged if not handled properly To exclude damages to the JXM IO E02 during transport it must be shipped in its original packaging or in packaging protecting agains
57. dule will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Error type Error code Error register Short to GND 0x9010 0x9017 1 Overcurrent 0x2310 0x2317 1 No load cable breakage 0x23B0 0x23B7 1 Lock out 0x5310 0 118 Jetter AG JXM IO E02 Protection and diagnostic features JXM IO E02 Analog output Detecting the error The analog output will detect short circuit to ground faults An over current fault is triggered in software when the measured load current exceeds the maximum output current specified in the system parameters A power dissipation fault is triggered when the internal power dissipation exceeds 2 W Internal dissipation is calculated according to the following formula Pp Vstp Feea Vout x lout A short to ground is reported in the event of a massive overcurrent If an output has experienced at least 5 shorts to ground and or overcurrent faults the software will lock this output to prevent it being switched on again Root cause of the error This error may be caused by the following root cause When a short to ground is detected the output is disabled and the fault notification is sent out The programmed load current value of 250 mA has been exceeded One output has experienced at least 5 shorts to g
58. e following steps Connecting the power supply and interfaces Initial commissioning via CANopen interface Contents Topic Page Preparatory work for initial COMMISSIONING us nn nnnnnnneennnnnennnn 52 Information on communication with a JXM IO E02 nenn 54 Jetter AG 51 5 Initial commissioning Preparatory work for initial commissioning Introduction Default values To be able to commission and program the JXM IO E02 complete the following activities first Connecting a controller with power supply ignition and CAN interface Changing the node ID in the case of several CANopen nodes of the same module type Some of the default values of the JXM IO E02 module are listed below Baud rate 250 kBaud CAN terminating resistor 0x01 This value means that the CAN terminating resistor of 120 Q at the end of the CAN bus is enabled Node ID 0x10 Wiring To wire the module JXM IO E02 proceed as follows Connect the following terminals with the power supply DC 8 32 V PROTECTED FEED Pin 1 terminal 30 in the vehicle IGNITION Pin 2 terminal 15 in the vehicle STANDARD FEED Pin 24 terminal 30 in the vehicle GROUND Pin 25 terminal 31 in the vehicle Connect the module to the CANopen bus pin 62 and pin 63 pin 64 and pin 65 Make sure that there is a terminating resistor of 120 Q at both ends of the CAN bus Switch on the ignition to energize the mod
59. e 0 STANDARD FEED voltage mV Process value 1 IGNITION FEED voltage mV Process value 2 ro PROTECTED FEED ON OFF Sub index 4 The function of sub index 4 is described below Sub index 4 lets you read the measured voltage of STANDARD FEED in millivolts Sub index 5 The function of sub index 5 is described below Sub index 5 lets you read the measured voltage of IGNITION FEED in millivolts Sub index 6 The function of sub index 6 is described below Sub Index 6 lets you read out whether PROTECTED FEED after the safety switch relay is enabled or disabled e 0 PROTECTED FEED disabled e 1 PROTECTED FEED enabled This object does not have an analog measurement Jetter AG 71 6 CANopen objects Object Feed Currents Index 0x2211 Feed Currents Index 0x2211 Sub index 1 Sub index 2 72 The object Feed Currents is read only This object lets you read out the latest measurements of the STANDARD FEED and PROTECTED FEED currents The structure of this object is shown in the table below Index Subsindex Default Description Attributes 0x2211 lo fk Number of entries ro read only 1 Current measurement ro STANDARD FEED 2 Current measurement ro PROTECTED FEED The function of sub index 1 is described below Sub index 1 lets you read the measured current of STANDARD FEED in mA The function of sub index 2 is described below Sub index 2 lets you read the measured curr
60. e for electric electronic subassemblies The JXM IO E02 may only be operated within the limits set forth in the technical specifications The operating voltage of the JXM IO E02 is classified as SELV Safety Extra Low Voltage Therefore the JXM IO E02 is not subject to the EU Low Voltage Directive Usage other than The device must not be used in technical systems which to a high degree intended have to be fail safe such as for example in ropeways and airplanes The JXM IO E02 is no safety related part as per Machinery Directive 2006 42 EC This device is not qualified for safety relevant applications and must therefore NOT be used to protect persons If you intend to operate the device at ambient conditions not being in conformity with the permitted operating conditions please contact Jetter AG beforehand Personnel qualification Depending on the life cycle of the product the persons involved must possess specific qualifications The qualifications required to ensure safe handling of the device at different phases of the product life cycle are listed below Product life cycle Minimum qualification Transport storage Trained and instructed personnel with knowledge in handling electrostatically sensitive components Mounting installation Specialized personnel with training in electrical automotive engineering such as automotive mechatronics fitters Commissioning Trained and instructed experts with profound programming knowle
61. e of the module to this error Although the fault condition is Overtemperature this fault encompasses both short circuit to ground and over current faults If either fault occurs the module JXM IO E02 will issue an over temperature error for the output A short to ground is reported in the event of a massive overcurrent If an output has experienced at least 5 faults the software will lock this output to prevent it being switched on again This error may be caused by the following root causes The limit for over current has been exceeded Ashort circuit to ground has occurred One output has experienced at least 5 faults The module responds to this error in the following levels Step Description ae The module will send a CANopen emergency object to the controller The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Overtemperature 0x4231 0x4232 Lock out 0x5400 122 Jetter AG JXM IO E02 Protection and diagnostic features JXM IO E02 Safety switch solid state relay Root cause of the error This error may be caused by the following root cause The safety switch solid state relay fails to disable the safety outputs Response of the module The module will set the corresponding bit in the CANopen error register and to this error will send the following error
62. e the JXM IO E02 and covers the following topics Wiring principle Pin assignment Example of wiring Technical specifications Topic Page Wiring principle 2 eee ee eeeeee cece cece eeeeeeae cece ener seceaaaeceeeeeeesecacaeeeeeeeeesecsaaneeeees 27 CAN bus cable Specification cccccceeeecceceeeceeeeeeeeeeeeeeeeeseseeeeeeeeeeeentees 29 Pin assignment Overview 31 Connecting the power supply and the 5 V output neneneeneennen 33 CAN Interface and Node ID cccccceeeeeeccceceeeeeeeeeceaeeeeeeeeeseseeeeeeeeeetees 35 Connecting Digital Inputs and Outputs 0 eee eee eeeeeeeeeeneeeeeeeeeeeeenaeeeeeeaes 37 Connecting Analog Inputs and Outputs 0 eee eceeeeeeeeeeeeeeeeeeeeeenaeeeeeeaas 42 Jetter AG JXM IO E02 Wiring principle Introduction Wiring principle Connector specification Mounting and installation This chapter covers the wiring principle of the JXM IO E02 The JXM IO E02 is connected through a wiring harness with external components such as Power supply Controller Peripheral module Sensors Actuators Indicator lights The wiring harness connects to the JXM IO E02 with a male connector This connector is not included in the scope of delivery This connector is available as accessory The connector specification is listed below Connector specification Manufacturer Model Tyco AMP Den Tp If the connector is use
63. e what the predictor parameters must be in order to accurately guess the PWM duty cycle when a new current is requested While this function is still running the predictor parameter in sub index 8 will read as 0 As soon as the function completes this may take up to 10 seconds but is usually faster the calculated Predictor parameters are available for reading from sub index 8 The PWM algorithm will also use these parameters immediately However the newly calculated parameters will not be written to non volatile memory When the JXM IO E02 is reset or power cycled these parameters will fall back to the previous parameters stored in the non volatile memory It is up to the user to first test the new parameters read them from sub index 8 and then write it to the System Parameters for permanent storage Jetter AG JXM IO E02 No Load Detection Sub index 12 Sub index 13 Sub index 14 CANopen objects The function No Load Detection is described below No load detection can be activated for each PWM channel individually When Current Control mode is selected no load will be detected if the duty cycle reaches maximum and the load current remains below the specified threshold In the Static PWM Duty Cycle Output mode no load is detected whenever the duty cycle is non zero and the load current is below the threshold The no load threshold is set in object System Parameter index 0x4556 sub index 40 The funct
64. ed Currents Index 0x2211 422244404s nenn nnnnnnnnnnnnnn nn 72 Object Analog Output Index 0x2300 220ums4s4nnnnnssnnnnnnnennnnnnnnnnnnnn nn 73 Objects PWM Output Index 0x2400 Ox2402 uuuunennnnennnne 75 Object H Bridge index Ox2500 244444nsnnnsnennenenennnnnnnnnnnnnennnnnnn nn 80 Objects Frequency Input Index 0x2600 0x2601 r 2 gt 82 Object 5 V Output 0x2800 220urs4nernsunnnnennnnnnnnnnnnnnnnnnnnnnnennnenn ne 84 Objekte OS Update Index 0x4554 und EDS Index 0x4555 85 Object System Parameter Index 0x4556 4444444440nnn nn nennen 86 Validating and setting system paramelters 444s nennen 98 Object OS Status Index 0x4557 ur220u02neannnnnnnnnnnnnnnnnnnnnnnnennnnnnn 101 Object Detailed Software Version Index 0x4559 uneeennenennn 102 Object Slave CAN Termination Index 0x4560 uunnennnnneneennn 103 Object Master CAN Termination Index 0X4561 e nennen 104 Object Electronic Name Plate Index 0x4565 4uun nennen nenn 105 Object User EEPROM Access Index 0x5000 220unnneennnnennennn 106 Jetter AG 59 6 CANopen objects Objects ranging from index 0x1000 through 0x2000 Device Type The structure of the object Device Type is shown in the following table Index 0x1000 Index Sub index D
65. efault Description Attributes 0x1000 O 0x008F0191 Type of device ro read only This object is read only and conforms with the CANopen specification Error Register The structure of the object Error Register is shown in the following table Index 0x1001 Index Sub index Default Description Attributes 0x1001 0 0 Error register ro read only This object implements the CANopen error register functionality Bit 0 Generic error Bit 1 Current error Bit 2 Voltage error Bit 3 Temperature error Bit 4 Communication error Bit 5 Parameter mismatch Bit 6 Not applicable Bit 7 Manufacturer specific error for example hardware error Pre defined Error Field The structure of the object Pre defined Error Field is shown in the following Index 0x1003 table Index Sub index Default Description Attributes 0x1003 O 0 Number of errors entered rw read amp in the array s standard write error field 1 0 Most recent error 0 ro read only indicates no error 2 64 Earlier errors ro This object shows a history list of errors that have been detected by the JXM IO E02 The maximum length of the list is 64 errors The list content is deleted on restart As per CANopen specification this list can be cleared by entering the value 0 into sub index 0 60 Jetter AG JXM IO E02 Manufacturer Software Version Index 0x100A Producer Heartbeat Time Index 0x1017 Features Index 0x2000 CANopen obje
66. elow Sub index 5 lets you retrieve the current state of IN 1 through IN 5 Sub index 5 returns the data in the one bit per channel data structure described below Sub index 5 uses the one bit per channel data structure described below e Bit 0 Digital input IN 1 e Bit 1 Digital input IN 2 e Bit 2 Digital input IN 3 e Bit 3 Digital input IN 4 e Bit 4 Digital input IN 5 In the one bit per channel configuration the following data values are possible e 0 Input state OFF e 1 Input state ON Sub index 6 lets you retrieve the number of available inputs In the given case five inputs are available 63 6 CANopen objects Objekt Digital Universal I O Index 0x2101 Universal I O A universal I O can be used as digital input or digital output Therefore universal I Os must be configured correspondingly You can configure as many multi purpose I Os as required as digital input or output Ifa universal I O is used as digital input the related digital output must be disabled OFF Universal I O This object lets you configure universal I Os It allows either to read out the Index 0x2101 state of the digital inputs IN 6 IN 21 or to set the digital outputs OUT 1 16 The structure of this object is shown in the table below index Subsindex Default Description Attributes 0x2101 ae ZZ Number of entries ro read only Enabling channel rw read amp write ee a Process value 0
67. emperature sensor will trigger this fault if the internal temperature exceeds 125 C If this fault is triggered the JXM IO E02 must be powered down and allowed to cool down before normal use continues At start up the software compares the system parameters stored in two different memories If there is a conflict the software will default to the copy kept by the slave controller This requires an internal restart to reprogram the system parameters Triggering of this fault is for informational purposes However if the system parameter reset fault is triggered continuously this informs of a more serious failure Normal operation is not possible at this time When activated in the system parameters the JXM IO E02 will expect to receive the RX PDOs in the specified time If the RX PDO message does not arrive the fault is triggered and all outputs controlled by this PDO are disabled Jetter AG 125 7 Protection and diagnostic features JXM IO E02 Response of the module to this error 126 The module responds to this error in the following levels Step Deseripton The module will send a CANopen emergency object to the controller The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Internal communication failure Internal temperature System parameter reset RX PDO 1 timeout RX PDO 2
68. ent of PROTECTED FEED in mA Jetter AG JXM IO E02 CANopen objects Object Analog Output Index 0x2300 Analog Output Index 0x2300 This object lets you configure the analog output Also the analog output voltage current can be set as process value The structure of this object is shown in the table below Index Sub index Default Description Attributes 0x2300 O 5 Number of entries ro read only 1 0 Not used 2 0 Instruction rw read amp write 3 0x05 Not used 4 0 Process value 0 Output voltage rw 5 0 Process value 1 Output current rw Sub index 2 The function of sub index 2 is described below Sub index 2 lets you select between the following modes of operation e 0x00 Disabled no output function e 0x01 Constant output current e 0x02 Constant output current ratiometric value specified e 0x03 Constant output current absolute value specified To select one of the above modes enter the corresponding value into sub index 2 When you read out sub index 2 the currently set mode is returned The following information can be obtained e 0x00 Disabled no output function e 0x01 Constant output current e 0x02 Constant output current ratiometric value specified e 0x03 Constant output current absolute value specified e 0x08 Short circuit to ground fault has been detected Sub index 4 The function of sub index 4 is described below Sub index 4 lets you output a specific analog output voltage With mode
69. ent of a massive overcurrent If an output has experienced at least 5 shorts to ground and or overcurrent faults the software will lock this output to prevent it being switched on again This error may be caused by the following root causes The programmed limit for over current has been exceeded The programmed limit for no load has been exceeded A short circuit to ground has occurred One output has experienced at least 5 shorts to ground and overcurrent faults The module responds to this error in the following levels Step Description 1 The module will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Error type Error code Error register Short to GND 0x90D0 0x90D2 1 Overcurrent 0x23D0 0x23D2 1 No load cable breakage 0x23C0 0x23C2 1 Lock out 000 fox5100 es lo 120 Jetter AG JXM IO E02 H bridge Detecting the error Root cause of the error Response of the module to this error Protection and diagnostic features JXM IO E02 Full protection is only available when the H Bridge is used in the H Bridge PWM output modes If the H Bridge is used as two independent digital outputs only short circuit to ground fault detection is possible This feature is unable to detect which of the outputs has caused
70. entered Current Demand Current Demand is the current demand in mA CR is the coil resistance that has been specified in the system parameters or calculated by the software Uyat is the measured battery voltage STANDARD FEED DC is the next duty cycle DC is the current duty cycle Err is the error in the load current difference between demand and actual value in mA EP is the error parameter specified in the system parameters Int is the integral of the error signal basically the sum of the error currents but the integral is multiplied by 0 25 after every cycle IP is the integrator parameter specified in the system parameters When you update the software of a device that has been configured for using the old PWM algorithm the following settings are used The coil resistance is calculated by the predictor parameter The formula that is now used to calculate DCO has been integrated into the predictor parameter The proportional parameter error parameter is set to 160 The integrator parameter is set to 420 These values have been experimentally selected and have proven to be safe for a wide range of solenoid valves Sub index 11 The function of sub index 11 is described below 78 Sub index 11 offers an automatic tuning of the Predictor parameter To activate this function write a 16 bit current value to sub index 11 The system will then attempt to drive this current on the PWM and calculat
71. f this object is shown in the table below Index 0x2800 index Subindex Der Description Sub index 1 The function of sub index 1 is described below Sub index 1 returns the error state of the 5 V output e Value 0 means no error e Value 1 indicates that the protection has been activated due to an external fault Sub index 2 The function of sub index 2 is described below Sub index 2 returns the current drive status of the 5 V output e 0 5 V output is disabled e 1 5 V output is enabled Sub index 2 also supports write access OS version 3 03 0 00 or higher This lets you enable disable the 5 V output for production testing e Value 0 disables the 5 V output e Value 1 enables the 5 V output Only sub index 2 is writable 84 Jetter AG JXM IO E02 CANopen objects Objekte OS Update Index 0x4554 und EDS Index 0x4555 OS Update Index 0x4554 Electronic Data Sheet Index 0x4555 This object is used for OS updates It should not be accessed directly in most applications This object is read only This object lets you retrieve for instance the PCB revision If you wish to contact the hotline of Jetter AG in case of a problem please have this information ready index Subinder Demut Deseripton Atributos oss o 110 Mumberefeien ro enden Ob b SE en e y o O b eow e o O u omae e O sage soi name ena e e Poren m a ee Page 1 Module serial number em P
72. g this period the frequency measurement aborts and returns the value 0 This parameter is specified in units of 16 ms The following values are allowed Value range 0 128 The default value is 128 Analog Inputs 1 4 The parameters of sub index 66 67 let you set the change threshold for the Change threshold analog outputs 1 4 The change threshold specifies the change in measurement that will register as an input change for triggering event based PDO transmission The change in measurement must be at least 10 steps in order to trigger a PDO transmit The following values are allowed Value range 1 200 A value of 1 corresponds to 0 5 per cent For example 2 means 1 of the full 1024 step measurement range The default value is 15 which is 7 5 of 1024 or 77 measurement steps TX PDO 1 4 The parameters of sub index 72 75 let you set the minimum amount of Minimum time between time between automatic event based transmissions of TX PDO 1 transmissions If an input change triggers transmitting this PDO the specified minimum amount of time must pass before the PDO will retransmit for a new input change event Requesting this PDO with CAN RTR messages will also reset this delay time This parameter is specified in units of 50 ms The following values are allowed Value range 0 2540 Value 0 disables this feature The default value is 2 which corresponds to a time period of 100
73. he JXM IO E02 is either connected to a controller or is integrated into the controller JCM 350 E03 The controller is connected to a PC The JetSym programming software has been installed on the PC The minimum requirements regarding modules controllers and software are fulfilled When a fault is detected the JXM IO E02 will disable the function that caused the fault It will transmit a CANopen Emergency Object to inform the controller of the problem The fault is also recorded in a history list of error events These error events are compliant to the CANopen Pre defined Error Field The external controller can immediately reactivate the function but as long as the fault remains the JXM IO E02 will again disable the function and retransmit the error notification If an output has experienced a defined number of faults short to ground overcurrent or overtemperature the software will lock this output to prevent it being switched on again If the controller demands switching on this output the lock out fault is triggered Once an output is locked the JXM IO E02 must be power cycled before the output can be activated again Check the JXM IO E02 before you put it into normal operation Jetter AG 113 7 Protection and diagnostic features JXM IO E02 Contents 114 Topic Page Standard feed power input STANDARD FEED eeen 115 Protected feed power input PROTECTED FEED ecne 116 Digital Outputs 1 8
74. he divisor and the most significant byte is the multiplier The least significant byte of this parameter is not allowed to be zero because it is a divisor 76 Jetter AG JXM IO E02 Sub index 10 Current control Calculating the PWM duty cycle CANopen objects The function of sub index 10 is described below In Current Controlled PWM Output mode sub index 10 lets you set the Integrator parameter for the current control algorithm This parameter is an unsigned 16 bit word where the least significant byte is the divisor and the most significant byte is the multiplier The least significant byte of this parameter is not allowed to be zero because it is a divisor In Current Controlled PWM Output mode the PWM duty cycle is controlled using the above three parameters in the following formula Pr emul Currentdemand s Pr Omui Error Intmul PWMbutyCycle Pr ediv Pr odiv Intaiv IntegratedError Where Premu and Pregiy are the Predictor multiplication and division factors sub index 8 Promu and Progiy are the Proportional multiplication and division factors sub index 9 Intmu and Intay are the Integrator multiplication and division factors sub index 10 Currentpemang is the user input in milliamp Error is the difference between the measured and commanded output current also in milliamp Integrated Error is the integral of the error signal When a new output current is re
75. ing data from the JXM IO E02 via PDO2_RX 0x280 node ID Byte offset Index sub i Size byte Description ndex 0 0x2200 04 2 Analog input 1 2 0x2201 04 2 Analog input 2 4 0x2202 04 2 Analog input 3 6 0x2203 04 2 Analog input 4 The controller is able to read back the following data from the JXM IO E02 via PDO3_RX 0x380 node ID Byte offset Index sub i Size byte Description ndex 0 0x2600 04 4 Frequency input 1 4 0x2601 04 4 Frequency input 2 For PDO 3_RX the frequency input fields change to sub index 5 of the respective objects when the frequency input is used as a digital input This allows monitoring of the digital input level by means of PDO Normally the PDOs are transmitted asynchronously on request However PDO1_RX can also be enabled to be transmitted asynchronously on events This is done using the Event based PDO TX enable option in the System Parameters interface Additionally from OS version 2 10 0 01 PDO3_RxX is also transmitted asynchronously on events The event that triggers this is the completion of a frequency measurement This function cannot be disabled and is only available for frequency measurement at this time TX PDOs are transmitted upon receiving a remote request RTR message But event based triggering of the TX PDOs can also be enabled in the system parameters 110 Jetter AG JXM IO E02 CANopen objects Digital input This parameter enables disables
76. ion implemented on the JXM IO E02 PDO is short for Process Data Object The PDO data allocation is fixed and cannot be changed by the application The JXM IO E02 allows PDO access when it has been set to operational state Contents Topic Page RX PDO allocation on the JXM IO E02 uo cece cece ee eeeeeeeeeeeseneeeeseaaes 109 TX PDO allocation on the JXM IO EDO2 uuuuuuasnnneesannnnnnnnnnnnnnnnnnennnnn 110 108 Jetter AG JXM IO E02 CANopen objects RX PDO allocation on the JXM IO E02 PDO assignment and parameters New software The tables below show the allocation of RX PDOs implemented on the JXM IO E02 CANopen objects are linked with their corresponding PDOs Therefore writing to that PDO will be the same as writing to that SDO index and sub index The controller is able to read back the following data from the JXM IO E02 via PDO1_TX 0x200 node ID Byte offset Index sub i Size byte Description ndex 0 0x2101 05 2 Digital outputs 2 0x2103 05 1 Switch feed outputs The controller is able to read back the following data from the JXM IO E02 via PDO2_TX 0x300 node ID Byte offset Index sub i Size byte Description ndex 0 0x2500 05 2 H bridge output state 2 0x2400 04 2 PWM 1 current 4 0x2401 04 2 PWM 2 current 6 0x2402 04 2 PWM 3 current Please note that specification of current values is allowed only in mode Current Controlled PWM Output If the PWM output is set to static d
77. ion of sub index 12 is described below To store the values from sub index 11 to the system parameters enter these values into sub index 12 Then enter 1 into 0x4556 sub index 0 enable write access to system parameters The function of sub index 13 is described below When writing values to sub index 12 is completed sub index 13 introduces a new parameter Control Inhibit This parameter is used to slow down the PWM algorithm Control Inhibit is necessary because the PWM algorithm can run faster than the current rise fall time in the load The function of sub index 14 is described below For the purpose of current control the analog to digital converter measures via a shunt resistor the current that is produced by the PWM signal Sub index 14 lets you set the number of measured values to be used by the ADC for averaging x times 8 ms Jetter AG 79 6 CANopen objects Object H Bridge index 0x2500 H Bridge Index 0x2500 This object lets you configure the H Bridge Also this object can be used to read the output states It returns the PWM duty cycle when the H Bridge is in a PWM controlled mode The structure of the object H Bridge is shown in the following table Index Sub index Default Description Attributes 0x2500 0 7 Number of entries ro read only 1 0 Not used 2 0 Operating mode rw read amp write 3 0 Not used 4 0 Process value 0 Measured ro current 5 0 Process value 1 Output rw
78. ject 0x100A but in a 32 bit unsigned integer format which is compatible with the standard IP type version numbers used at Jetter AG Example The 32 bit word 0x01070001 translates to a software version of 1 07 00 01 The CANopen specifications can be obtained from the CiA e V http www can cia org homepage The key specification documents are CiADS 301 This document is also known as the communication profile and describes the fundamental services and protocols used under CANopen CiADS 302 Framework for programmable devices CANopen Manager SDO Manager CiADR 303 Information on cables and connectors CiADS 4xx These documents describe the behavior of a number of device classes in what are known as device profiles Electronic Data Sheet Object see page 85 Detailed Software Version Object see page 102 23 JXM IO E02 Mounting and installation 4 Mounting and installation Purpose of this chapter This chapter is to support you in mounting and installing the JXM IO E02 in the vehicle and covers the following topics Planning the wiring of a JXM IO E02 Connecting sensors and actuators to the JXM IO E02 Installation CANopen Bus Engineering Contents Topic Page WANG EE E E E E EET EAT 26 Installing the JXM AO E02 ssiri iiiaae an aAa NENANA 45 Jetter AG 25 4 Mounting and installation 4 1 Wiring Purpose of this chapter Contents 26 This chapter describes how to wir
79. l With AGC enabled the measured value will range between 0 8 191 With AGC disabled the measured value will range between 0 1 023 The function of sub index 5 is described below Sub index 5 lets you read the value of the latest measured analog input signal too The value is indicated in millivolts mV With AGC enabled the measured value will range between 0 40 000 With AGC disabled the measured value will range between 0 5 000 The function of sub index 6 is described below Sub index 6 lets you read the maximum value that can be output via sub index 4 The function of sub index 7 is described below Sub index 7 lets you read the maximum value that can be output via sub index 5 If this input is used as current input 0 20 mA it measures the voltage through an internal resistor of 240 Q That is why a current of 20 mA results in a voltage of 4 8 V This value corresponds to a measured value of 982 The full scale value of 1023 is reached if the input current is 20 8 mA Jetter AG JXM IO E02 CANopen objects Object Voltage Sense Analog Input Index 0x2210 Voltage Sense Analog This read only object returns as process value the measured value of the Input Index 0x2210 three power feeds The structure of this object is shown in the table below index Subinder Det Descripton Atributos oezo o e Mumberefenien ro enden O bo o obo oe Eee Tre a Process valu
80. m current of 30 A has been exceeded The time limit for over current has been exceeded The battery voltage has dropped below 5 V for more than 30 seconds The battery voltage has exceeded 32 V for more than 64 seconds Response of the module The module responds to this error in the following levels to this error Step Description 1 The module will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Error type Error code Error register Overcurrent 0x2323 2 Battery voltage is too low 0x3023 2 Battery voltage is too high 0x3024 2 Fixing the root cause The controller must respond to the error message and disable the outputs on the module JXM IO E02 Jetter AG 115 7 Protection and diagnostic features JXM IO E02 Protected feed power input PROTECTED FEED Detecting the error Root cause of the error Response of the module to this error The input currenton PROTECTED FEED is monitored by software The software will issue an over current error notification if the current exceeds 30 A The solid state switch used to disable the safety outputs safety switch also implements a hardware limit The safety switch will switch off automatically if the switch temperature rises too high and the set actual current is exceeded The actual cur
81. measured shortly after switching on the JXM IO E02 while there are no active output signals and input signals are not connected Active outputs and also certain connected input signals will affect the current consumption iat ne B a SFO EJES EJE E JO GU S60 Sie 2 Pin eseription O 6 Regulated 5 V output Controlled voltage DC5V Load current 250 mA max 34 Jetter AG JXM IO E02 Mounting and installation CAN Interface and Node ID Introduction The following diagrams show the pinout of the connector as viewed from the front CANopen 2 JG G GE OW amp e amp Ged amp E3 6 bd e 2 BJ 28 22 G Node ID Pin Deseription O Node ID tri state input 1 o 68 Node ID tri state input 2 Technical data Tri state gt 5 Er Purpose For device coding As digital inputs Type of inputs Pull up resistor 22 kOto IGNITION FEED and pull down resistor 276 Q to ground Tri state operation is detected by a pull down resistor to ground Note Note that because these inputs are tri state enabled they will always have bias voltage on the pin capable of sourcing current Jetter AG 35 4 Mounting and installation Calculating the node ID based on tri state input state Related topics The following table shows the resulting node ID given that the default base ID of 0x10 is used Not connected OFF ON neema oe ON Specification CAN bus cable see
82. mode for the frequency inputs 1 2 at power on Please refer to the description on objects 0x2600 0x2601 sub index 2 The following values are allowed 0 Mode Frequency measurement without bias default 1 Mode Digital input with pull up resistor 2 Mode Digital input with pull down resistor 3 Mode Frequency measurement with pull up resistor 4 Mode Frequency measurement with pull down resistor Sub index 43 lets you set the output current limit of the H bridge The data is in units of 1 mA i e 1 1 mA 2 500 2 5 A The following values are allowed The current limit must be in the range 250 3 000 250 mA 3 0 A The default value is 2 500 2 5 A Sub index 44 lets you set the no load detection threshold for the H bridge The threshold is specified in milliamps The following values are allowed The allowed range is 100 250 100 mA 250 mA The default value is 100 100 mA Sub index 45 lets you set the output current limit of the PWM outputs 1 3 This parameter applies only when the outputs are used in static PWM duty cycle output mode without current control The data is in units of 1 mA i e 1 1 mA 2 500 2 5 A The following values are allowed The current limit must be in the range 500 2 500 500 mA 2 5 A The default value is 2 500 2 5 A Sub index 46 lets you set the bias value of digital inputs 1 5 at power on Please refer to the
83. ms TX PDO 1 4 The parameters of sub index 76 79 let you set the maximum amount of Maximum time between time between automatic event based transmissions of TX PDO 1 transmissions If no input change event occurs that triggers transmitting the PDO for the duration specified by this parameter the device will transmit the PDO regardless So the external controller can have confidence that input signals are still being monitoring This parameter is specified in units of 50 ms The following values are allowed 96 Jetter AG JXM IO E02 PWM 1 3 Averaging window x times 8 ms of ADC PWM frequency Values CANopen objects Value range 0 254 Value 0 disables this feature The default value is 60 which corresponds to a time period of 3 ms The parameters of sub index 80 82 let you select the ADC averaging window Every 8 seconds a current measurement takes place This parameter returns the average value for the last x current measurement Where x is the value that is specified in this parameter The following values are possible e 1 default Displays the last current measurement value e 2 default Displays the average value of the last two current measurements e 3 default Displays the average value of the last three current measurements e 63 default Displays the average value of the last 63 current measurements e 64 default Displays the average value of the last 64 current
84. n the range of 0 1023 sets the PWM duty cycle In PWM controlled mode sub index 5 lets you set the PWM duty cycle Sub index 6 The function of sub index 6 is described below Sub index 6 lets you read out the maximum value for the duty cycle that can be input via Sub Index 5 Jetter AG 81 6 CANopen objects Objects Frequency Input Index 0x2600 0x2601 Frequency Input This object lets you configure input pins 54 and 55 either as frequency inputs Index 0x2600 0x2601 or as simple digital inputs In frequency input mode the period length of the incoming signal is measured The structure of these objects is shown in the Attributes ro read only rw read amp write table below Index Sub index Default Description 0x2600 0 7 Number of entries 0x2601 1 0 Not used 2 lo Operating mode 3 1 Not used 4 o0 Process value 0 Period length ns 5 lo Process value 1 Digital input state 6 OxFFFFF Parameter 0 Maximum frequency FFF value 7 0 Pulse count Sub index 2 The function of sub index 2 is described below ro ro ro ro To select the operating mode enter the following values into sub index 2 e 0 Frequency input mode no pull up pull down resistor e 1 Digital input active low e 2 Digital input active high e 3 Frequency input with pull up resistor e 4 Frequency input with pull down resistor e As of device revision 12 xx a new parameter is avail
85. nges in the signal frequency The following values are allowed Value Range 1 15 The default value is 2 Sub index 63 lets you set the maximum time within which the JXM IO E02 must receive PDO commands before disabling outputs This value is specified in milliseconds ms The following values are allowed 0 To disable this function default Value Range 500 60 000 ms For more information refer to the description of the parameter PDO timeout enable Sub index 64 lets you enable disable PDO timeout see sub index 63 for each of the four RX PDOs Each bit corresponds to a RX PDO Bit 0 RX PDO 1 Bit 1 RX PDO 2 Bit 2 RX PDO 3 Bit 3 RX PDO 4 To enable disable this feature set the corresponding bit value 0 The feature is disabled default 1 The feature is enabled The legal range for values is 0 15 inclusive 95 6 CANopen objects Analog output Sub index 65 lets you set the default mode of the analog output Default output mode The value range is the same as for SDO object 0x2300 sub index 2 The following values are allowed e 0 Output disabled default e 1 Current controlled e 2 Voltage controlled ratiometric e 3 Voltage controlled absolute Frequency inputs 1 2 The parameters of sub index 66 67 frequency input 1 2 let you set the Timeout maximum timeout period for the system to wait for a signal edge If no signal is received durin
86. nnennnnnnnnnnnnnnnnnn nn 54 6 CANopen objects 57 6 1 CANopen object dictionary for JXM IO E02 nnnnenesnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnn nennen 58 Objects ranging from index 0x1000 through OX2000 0 0 0 eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteeeaeeeeeeeaeens 60 Object Digital Outputs Index OX2100 oo eee cece ee eeee eter eeeeeeeeeeaeeeeseeeaeeeseeeaeeeseeaeeeeeenaeees 62 Objekt Digital Universal I O Index 0X2101 0 eeecceeeeeeeeeeeeeeeeeeeeeeeeeeeseeeaeeeseeeaeeeseeeeeeteeaeess 64 Object Tri state Input Index 0X2102 ooo eee eeeeee ee eeeee ee eeeeeeeeseeeeeeeseaeeeeeseeeaeeeseeeaeeeseeeeeeseeanees 66 Object Switch Feed Output Index 0x2103 usr22400snnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn nnnn 68 Objects Analog Input Index 0x2200 OX2203 u 222440snsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen 69 Object Voltage Sense Analog Input Index 0x2210 44usrsnneeeennnnnnnnnnnnnnnnnnnnnnnennn nennen 71 Object Feed Currents Index 0x2211 4244044444440HHnnaaHannnnnnnannnnnnnnnnnnnnnnnnnnnnnennnnannennn 72 Object Analog Output Index 0x2300 24uus4sn4eennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen 73 Jetter AG 7 Contents 6 2 Appendix A Objects PWM Output Index 0x2400 Ox2402 ursnnessnsnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn nenn 75 Object H Bridge index 0x2500
87. nnnnnnnnnnnnnnnnnnnnnnn nenn 20 INAV AUS aac cence Seca a E E E A R a R EPEBEER 21 3 2 Identification via CANopen bus ecceeeeeeeeeeeeeee cece ee eeeeeeeeeeseeeeeeeeaaeeeeeseeeseeeseeneeeeseeeeeenes 22 Electronic Data Sheet EDS and software version of the module ccceceeeeeeeeeeeeeeeeeees 23 4 Mounting and installation 25 4 1 WUE ING A E PE ces ca sece cnx E E ascustucesteeeesuyacsixtesdhech vasceeeeesstuseeessuees T 26 Wiring Principles aisanana a en ae area etc 27 CAN bus cable Specification u 0n ande hneln 29 Pin assignment OVEPVICW wizdcsssccdcssicdcccessiadecsviededcuspdcedanvecdsges AE NENAS RAATS N aRar 31 Connecting the power supply and the 5 V OUtpUL ccccceceeeeeeeeeeeceeeeeeesecaeaeeeeeeesetennieaeeeeeess 33 CAN Interface and Node ID a alien ade 35 Connecting Digital Inputs and Outputs 2000 eee ceeeee ee eeee ee ee eeeeeeeeeeaeeeeeseeeeeeeseeeaeeeseeaaeeeeeeeaeees 37 Connecting Analog Inputs and Outputs uus42240ssnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nass nnnn 42 4 2 Installing the JXM IO E02 4 2 s524244 2404000000000 Hanna sen ann nn anna han near anna 45 Installing the JXM IO EQ2 1 an Aa E EA E E EE 46 5 Initial commissioning 51 Preparatory work for initial COMMISSIONING 44442444444sssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ann 52 Information on communication with a JXM IO EO2 uuusssseesssnnnnnnennnn
88. nnnnnnnnnnnnnnnnsnnnnnnnsnnnnnnn ann 109 TX PDO allocation on the JXM IO EO2 uu nessesnnesnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenn 110 Protection and diagnostic features JXM IO EO02 113 Standard feed power input STANDARD FEED 0 ecseeeeseeeeeeeeeeeeeeeeeeeeeeeseeeeeeeseeaeeeseeeatees 115 Protected feed power input PROTECTED FEED 2 444ssssnnnnnnnnnnnnnnnnnnnnn nn nnn nn 116 Digital Outputs 1 8 Standard Outputs uurs2s440ennssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 117 Digital Outputs 9 16 Safety Outputs 40ss4ss44Hnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 118 Analog ouput eaea aeia aR aE E aR EAEE AE ERA E A A RE 119 PWM outputs 1 3 ceceeeeeceee cece cece eee aeae cece eee secaaeaeceeeeeeececaaeaeeeeeeesedcaaeaeeeeeeeseeensieeeeeeseeeee 120 FAFA G e PE ay NEIL ER EL dccnaustacsypcasecasndasavunstan A OE viasussacueresaulsade 121 Switch feed outputs 1 2 o oo cee eeececeecce cece ee eeeeeaeeeee teense ceaaaeceeeeeeesecsaaaeceeeeeeesecaeaeeeeeeeeesecsanneeeees 122 Safety switch Solid state relay eccceceeeee ener ee eeeeeeeeeeneeeeeseeeeeeeseceaeeeseeeaeeeseneeeeeseeaaeeeeenaaees 123 9 V TOTEPEN CO oUi ssania A A 124 Genene Ur deleciON sprs a PERF FIEPBRRESELPERFLECHERRRSEREPEHFE FIEEERREIRLPERFELEEESRRREREBERFERN 125 127 Technical dafa 2 ua en an ec a E aR 128 Technical Specifications u innen a aaa aa a
89. o the controlled Index 0x2400 0x2402 output current or a PWM duty cycle can be set as process value The structure of these objects is shown in the following table Index Subindox Default Description tributes 0x2400 14 Number of entries ro read only 0x2402 Operating mode rw uate amp Fr Process value 1 Pulse control factor a a a ee O e o Preterm m O e po propono m we o merom wy 0 Prt prtctraostine onion m 12 Saving the system parameter rw settings 14 PWM averaging window x times rw 8 ms of analog to digital converter ADC Sub index 2 The function of sub index 2 is described below Sub index 2 lets you select one of the following modes of operation e 0x01 Current controlled PWM output e 0x02 PWM output with static duty cycle To select one of the above modes enter the corresponding value into sub index 2 In static PWM duty cycle output mode the output current will not be controlled However it will be monitored If the measured current exceeds a user set threshold the PWM output is disabled and the JXM IO E02 reports an error The maximum value is to be entered into sub index 6 Jetter AG 75 6 CANopen objects Sub index 4 The function of sub index 4 is described below In current controlled PWM output mode write to sub index 4 to set the output current The value is in the range of 0 2499 mA Sub index 4 lets you read out the recentl
90. open timeout error Sub index 2 The function of sub index 2 is described below Sub index 2 returns the BSP state machine state number The BSP uses specific modes for certain tasks that must be performed at start up Once all these tasks have been completed successfully the BSP returns state 255 which indicates normal operation Sub index 3 The function of sub index 3 is described below Sub index 3 returns the PCB revision number e A value of 1 indicates the former hardware type e A value of 2 indicates the latest hardware type Sub index 4 The function of sub index 4 is described below Sub index 4 returns either 0 or 1 If during start up one or more system parameters were set to a default value this value is set to 1 Jetter AG 101 6 CANopen objects Object Detailed Software Version Index 0x4559 Detailed Software Version Index 0x4559 The structure of this object is shown in the table below This read only object returns the same software version as object 0x100A but in a 32 bit unsigned integer format which is compatible with the standard IP type version numbers used at Jetter AG In addition this object will also return the software version number for the two processors including their bootloader version numbers index Subsndox Default Description Attributes 0x4559 oo o f Number of entries ro read only a a E O e p meos e O O b o trbantondervrsen m O u p ose e O so
91. quested the Error and Integrated Error terms are zero The output duty cycle is therefore calculated based on the user input and the Predictor parameters To ensure that this first output level is accurate the predictor parameter must be set for the load that it will be driving After the initial duty cycle calculation the PWM algorithm uses the difference between the measured output current and the current demand to adjust the PWM duty cycle The proportional and integrator parameters influence how fast the algorithm responds to a difference between the measured and demanded current These two parameters also determine how much overshoot there will be All three parameters are highly dependent on the load that is being driven Therefore it is the users responsibility to tune these parameters for their own application If the PWM is already driving an output at a certain current level and a new output current is requested the algorithm uses the actual output current to calculate the new duty cycle This method reduces the sensitivity to incorrect predictor parameters but does not remove it these parameters will still affect the normal operation The PWM duty cycle is calculated as follows DC 1024 x demand x 7 R x0 75 J batt EP IP Int x 1024 1024 DC DC 1 Err x Jetter AG 77 6 CANopen objects Where DC is the initial duty cycle the first duty cycle after the current value has been
92. r the 3 PWM outputs Each PWM output is represented by a single bit Bit 0 PWM output 1 Bit 1 PWM output 2 Bit 2 PWM output 3 To enable disable no load detection set the corresponding bit value The following values are allowed 0 No load detection is disabled default 1 No load detection is enabled The legal range for values is 0 7 inclusive Sub index 50 lets you enable disable the no load detection for the H bridge This parameter applies only when the H bridge is used in PWM mode The following values are allowed e 0 No load detection is disabled default e 1 No load detection is enabled Sub index 51 lets you select which inputs are allowed to trigger event based PDO transmission For more information refer to section CANopen PDO Specification see page 108 Each of the 21 inputs is represented by a single bit in the 32 bit word Bit 0 Digital input IN 1 Bit 1 Digital input IN 2 Bit 2 Digital input IN 3 Bit 3 Digital input IN 4 Bit 4 Digital input IN 5 Bit 16 Digital input IN 6 Bit 17 Digital input IN 7 93 6 CANopen objects Digital output Startup current pulse load PWM software mode PWM Control inhibit H bridge Default mode of H bridge output 94 Bit 30 Digital input IN 20 Bit 31 Digital input IN 21 To enable disable event triggered transmission of a PDO message set the corresponding bit value 0 Event triggered tran
93. rameter with index node ID 0x4556 sub index 4 5 Repeat this procedure for all Now collision of data is avoided in modules of the same type until all communication between nodes of modules are connected to the the same type connected to the CANopen bus CANopen bus since each node has got an individual node ID Wiring see page 26 Information on communication with the module see page 54 CANopen interface and node ID see page 35 Jetter AG 53 5 Initial commissioning Information on communication with a JXM IO E02 Wiring diagram Example CANopen interface Restrictions Communication with peripheral modules The illustration below shows a wiring example of the following CANopen devices by Jetter AG Controller JCM 350 E03 Peripheral module JXM IO E02 2 2a 2b 3 o ET IN_CAN_H CAN_L OUT_CAN_H IN_CAN_H OUT_CAN_L IN_CAN_L 120 Ohm 120 Ohm CAN_L CAN_L Number Description Node ID 1 CAN bus 2 Jetter controller JCM 350 E03 2a Controller JCM 350 Ox7F 127 decimal 2b I O module JXM IO E02 0x10 16 decimal 3 Separate I O module JXM IO E02 0x11 17 decimal for tri state inputs that have been configured by the user During initial commissioning take into account the following restrictions limitations of the CANopen interface on the JXM IO
94. rence of malfunctions CAN wires which have not been twisted may increase susceptibility to noise This may disturb communications with the device which in turn may cause malfunctions Make sure that twisted pair cables are used for connecting the CAN interfaces 12 Jetter AG JXM IO E02 2 Product description and design Product description and design Introduction This chapter covers the design of the device as well as how the order reference is made up including all options Contents Topic JXM IO E02 Product description Parts and interfaces Order reference options Physical dimensions Jetter AG 13 2 Product description and design JXM IO E02 Product description The JXM IO E02 module Product features Compatibility Overview The module JXM IO E02 is an I O node and has especially been designed for use in the harsh environment of commercial vehicles and mobile machines The features of this product are listed below CANopen node with 1 interface to CAN 2 0B 16 digital active high inputs 8 digital active high outputs supplying up to 2 5 A 8 digital active high outputs supplying up to 5 0 A 2 switch feed outputs 2 5 A max 5 digital inputs which can be configured as active high or active low inputs 1 analog output resolution 10 bits 4 analog inputs voltage current resolu
95. rent that will cause the safety switch to disconnect is dependent on the ambient temperature The software implements a function allowing temporary over current This is useful in situations where high peak currents are required This error may be caused by the following root causes The maximum current of 30 A has been exceeded The time limit for over current has been exceeded The safety switch temperature is too high and the actual current is at least 30A The module responds to this error in the following levels Step Description 1 The module will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error The module will set the corresponding bit in the CANopen error register and will send the following error code Error type Error code Error register Overcurrent 0x2322 2 Safety Switch Failure 0x5001 8 If the switch fails in the ON state the JXM IO E02 will additionally issue the Safety Switch Failure notification 116 Jetter AG JXM IO E02 Protection and diagnostic features JXM IO E02 Digital Outputs 1 8 Standard Outputs Detecting the error A threshold can be programmed for both over current and cable breakage no load via the System Parameters interface Over current limit can be set to between 100 mA and 2 5 A per channel The no load threshold can be set between 50mA and 250mA Note that this no load threshold is shared for all
96. round and overcurrent faults Response of the module The module responds to this error in the following levels to this error Step Description 1 The module will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error The analog output will remain disabled until the module is instructed to set the analog output to a normal mode again or until a power cycle has occurred The module will set the corresponding bit in the CANopen error register and will send the following error code Error type Error code Error register Short to GND 0x9020 E Overcurrent 0x2370 Power dissipation 0x4220 oe i Lock out 0x5500 Jetter AG 119 7 Protection and diagnostic features JXM IO E02 PWM outputs 1 3 Detecting the error Root cause of the error Response of the module to this error The PWM outputs can be used in one of two modes Current controlled output PWM output with static duty cycle When these outputs are used as current controlled outputs the JXM IO E02 will detect short circuit to ground and no load faults No load is defined by a current threshold which is user selectable through the System Parameters interface When a PWM output is set as a static duty cycle output the JXM IO E02 will additionally detect over current faults These faults are also defined by a user selectable current threshold A short to ground is reported in the ev
97. set the default mode of the H bridge output The value range is the same as for SDO object 0x2500 sub index 2 The following values are allowed e 0 H bridge disabled default e 1 Independent push pull digital outputs e 2 Static duty cycle PWM left side output high right side output low e 4 Static duty cycle PWM right side output high left side output low Jetter AG JXM IO E02 Analog output Maximum current Frequency inputs High frequency reject Frequency input Number of wave periods Timeout for receiving PDO messages PDO timeout enable Jetter AG CANopen objects Sub index 58 lets you set the maximum output current mA for the analog output The legal range for values is 1 100 The default value is 100 This parameter only has an effect when the analog output is used in one of the voltage output modes Sub index 59 60 lets you set the maximum frequency that should be measured by frequency inputs 1 2 This parameter allows high frequency noise signals to be ignored The following values are allowed 0 To disable this function Value range 100 Hz 20 000 Hz The default value is 2000 Sub index 61 62 lets you set the number of signal periods counted and averaged for calculating the frequency for frequency inputs 1 2 The higher this number is the more immune the measurement is to noise disturbances but at the cost of taking longer to respond to cha
98. sical dimensions of the JXM IO E02 and the conditions for its installation Physical dimensions The illustration shows the physical dimensions of the JXM IO E02 te 2 150 Space required for The diagram shows the space required for the JXM IO E02 54 installation and service Ensure there is enough space around the connector for servicing requirements It should be possible to disconnect the connector at any time Jetter AG 17 2 Product description and design Space required to The diagram indicates the safety distances to protect against overheating protect against overheating la nell Please note The JXM IO E02 increases the temperature of the environment as a result of heat emission under load The JXM IO E02 operates without interruption at an ambient temperature of up to 85 C Consider the heat emission from the device in particular when installing it in a critical environment Inthe vicinity of the fuel tank In the vicinity of the fuel pipe Inthe vicinity of flammable vehicle components Inthe vicinity of thermally malleable vehicle components 18 Jetter AG JXM IO E02 Identifying the module 3 Identifying the module Purpose of this chapter Prerequisites Information for hotline requests Contents Jetter AG This chapter supports you in retrieving the following information from the JXM IO E02 Hardware revision Retrieving Electronic Dat
99. smission is disabled 1 Event triggered transmission is enabled The default value is x00000C000 disabling event triggered transmission of a PDO message for all inputs This setting enables transmission of frequency measurement PDOs Legal value range The three reserved bits bits 7 6 and 5 must be zero This means that the value of the least significant byte must never be higher than 31 Sub index 51 lets identify digital output channels that may draw a large current pulse at startup inrush current This parameter accepts a 16 bit integer value Each bit corresponds to one output channel Bit 0 Digital output 1 Bit 15 Digital output 16 For outputs that drive higher loads set the corresponding bit in this parameter to 1 This informs the software to switch on this channel separately from all other channels to minimize the effect of the in rush currents in the device The default value is OxC000 This setting enables this feature for output channels 15 and 16 Because all possible values 0 to 65535 are valid no validation checking is done on this parameter Refer to the PWM parameters below Sub index 54 56 lets you set the rate at which the PWM current control algorithm runs The cycle time of this algorithm is 8 ms This parameter sets the delay between every new control algorithm The legal range for values is 1 100 inclusive The default value is 10 Sub index 57 lets you
100. t electrostatic discharge Use an appropriate outer packaging to protect the JXM IO E02 against impact or shock Incase of damaged packaging inspect the device for any visible damage Inform your freight forwarder and Jetter AG When storing the JXM IO E02 observe the environmental conditions given in the technical specification The operator is not allowed to repair the device The device does not contain any parts that could be repaired by the operator If the device needs repairing please send it to Jetter AG When disposing of devices the local environmental regulations must be complied with Jetter AG 11 1 Safety instructions Residual dangers and protective measures Residual dangers Consider the residual dangers mentioned in this chapter when assessing the risks associated with your machine A DANGER Hazard in explosive gas atmosphere This device can become a source of ignition in potentially explosive atmospheres gt Do not use this device in potentially explosive atmospheres Hot surface hazard The JXM IO E02 can heat up during operation During operation the surface temperature of this device will become hot enough gt 60 C to cause burns gt Take protective measures to prevent inadvertent contact with the device e g install protective covers gt Allow the device to cool down for some time before you start working on it e g to carry out maintenance jobs Possible occur
101. timeout RX PDO 3 timeout RX PDO 4 timeout CAN passive mode Bus off recorder REC lt 127 or TEC lt 127 TEC gt 255 Jetter AG JXM IO E02 Appendix Appendix Introduction This appendix contains electrical and mechanical data as well as operating data Contents Topic Page Technical datars en seta eich ciate civealdceatdeeceiees 128 ate mar ac esse erie en nie ter aie et etre terete nm BESTEHENS eae nae er eres 139 Jetter AG 127 7 Protection and diagnostic features JXM IO E02 A Technical data Introduction Contents 128 This chapter contains information on electrical and mechanical data as well as on operating data of the JXM IO E02 Topic Page Technical specifications 0 0s0s0s0seeeeeeeeeeeeenenenenennnnnennnenennnnnnnn nennen 129 Physical dimensions u u 0e ee ann 135 Operating parameters Environment and mechanics 137 Operating parameters EMC cccccccccceseceeeeeeeeeceeeaeeeeeeesetennieaeeeeeetees 138 Jetter AG JXM IO E02 Technical specifications Connector Parameter Manufacturer Model Item number Coding Electrical data Parameter Power suppl y Operating voltage Operating voltage IGNITION FEED Peak Current IGNITION FEED STANDARD FEED SAFETY FEED Over current detection Communication Parameter Bus type Protocol Baud rate Terminating resistor Technical data Tri state inputs
102. tion 10 bits 2 frequency inputs 5 Hz 20 kHz resolution 62 5 ns 3 PWM outputs 2 5 A max resolution 10 bits 1 H bridge 2 5 A max 2 tri state inputs for setting the node ID The following table lists the device PCB revision numbers and the compatible OS versions 06 xx and older 02 xx and older Unknown no support All revisions 07 xx 03 xx V 3 16 0 00 and V 3 29 0 00 All revisions 10 xx 05 xx V 3 16 0 00 and V 3 29 0 00 All revisions 12 xx V 3 29 0 00 or higher 14 Jetter AG JXM IO E02 Product description and design Parts and interfaces Introduction This chapter describes the parts and interfaces of the JXM IO E02 Parts and interfaces The JXM IO E02 features the following parts and interfaces 1 2 3 4 Female connector For connecting external components and the controller Pressure compensation Compensation of inside and outside air membrane pressure Fastening lugs For screwing down the JXM IO E02 Nameplate For identifying the JXM IO E02 Jetter AG 15 2 Product description and design Order reference options Order reference The JXM IO E02 is available in different configurations To order a specific configuration from Jetter AG please specify the corresponding item number tome Orderatronce Mm 10000818 JXM IO E02 G06 K00 Standard I O node 16 Jetter AG JXM IO E02 Product description and design Physical dimensions Introduction This chapter details the phy
103. to design constraints some restrictions limitations had to be applied to the CANopen interface SDO expedited transfer only supports 4 byte transfers Any smaller data element must be extended to 32 bit before the SDO transfer SDO segmented transfer is only supported on certain objects Unless an object is documented to support segmented transfers assume that it does not SDO block transfer is NOT implemented PDOs are not user configurable PDOs are transmitted only asynchronous on request unless otherwise specified Although emergency messages are transmitted to notify of detected faults the CANopen emergency handling system is not fully implemented The Error Register does not save its state in non volatile memory After each reset or power cycle the error list is cleared 112 Jetter AG JXM IO E02 Protection and diagnostic features JXM IO E02 7 Protection and diagnostic features JXM IO E02 Purpose of this chapter Prerequisites Background Locking out outputs This chapter describes the available protection and diagnostics features implemented on the JXM IO E02 The following features are currently supported Detecting an error by means of the application or visualization program Identifying the root cause of an error Troubleshooting an error that caused a fault message To be able to troubleshoot a fault on the JXM IO E02 the following prerequisites must be fulfilled T
104. triggering for individual inputs The following Event based PDO diagram shows the bit mapping for this parameter transmission enable Pee EN BEA KIN ECH EN bits 31 PEE Tre bits 23 ES A EDEN bits 15 8 res res ros a a bits 7 0 Digital Outputs 1 16 FE Digital inputs 1 5 In the diagram the green bits represent the five digital input channels The blue bits represent the sixteen digital output read back functions The other bits are labelled TI1 and TI2 Tristate inputs 1 and 2 FI1 and FI2 Frequency inputs 1 and 2 AI1 Al2 Al3 Al4 Analog inputs 1 through 4 res Reserved bits must be set to zero For all digital inputs the PDO is triggered when a state change is detected In the case of the frequency inputs in frequency measurement mode the PDO is triggered when a measurement is completed but only if a minimum delay of 50 ms has expired This is to prevent the PDO being transmitted every 1 ms while the input signal has a frequency of 1 kHz or higher Presently configuring this delay is not possible yet A state change for the analog inputs is defined as a change in the measurement of at least 7 5 this percentage is now configurable in system parameters of the full scale measurement This prevents triggering PDOs due to small noise signals But it does mean that smaller changes in the analog value measured are not responded to Therefore it is recommended that espe
105. uency counter u ee As digital input Type of inputs Software selectable with either 2 kQ pull up resistor to STANDARD FEED or 2 kQ pull down resistor to ground Frequency measurement 5 Hz 20 kHz range Result of measurement Period of the signal in nanoseconds As of hardware revision gt 12 04 the following operating point parameters apply Operating point OFF lt 1 7 V for mode 1 4 and IGNITION FEED 12 V Operating point ON gt 3 6 V for mode 1 4 and IGNITION FEED 12 V Operating point OFF lt 3 4 V for mode 1 4 and IGNITION FEED 24 V Operating point ON gt 7 2 V for mode 1 4 and IGNITION FEED 24 V Operating point OFF AC signal lt 350 mV for mode 5 Operating point ON AC signal gt 350 mV for mode 5 Technical data H bridge Purpose As H bridge As two independent digital inputs As two independent PWM outputs active high and active low Accuracy of current measurement for lt 100 mA H bridge Short circuit capability No load detection Technical data Controlled voltage DC5V Load current 250 mA max Jetter AG 133 7 Protection and diagnostic features JXM IO E02 Ali diagnostic functions Short circuit The faulty function is disabled automatically Overload A CANopen emergency object is sent to the controller No load cable breakage The error message is stored to a history list which is compatible with the CANopen standard
106. ule Communication with the module is now possible Result The module is now operational and can be initialized by the controller 52 Jetter AG JXM IO E02 Data collision in the case of several modules with the same node ID Related topics Initial commissioning If you connect several nodes of the same type to the CANopen bus this leads to data collisions on the CANopen bus The reason for this is that modules of the same type in as delivered condition have got the same node ID To allow communication with all nodes on the bus the node ID of modules with the same default ID must be changed There are two ways to change the node ID Option 1 Connect modules with different states of the tri state inputs The resulting node IDs are as follows Module State of pin 67 State of pin 68 CANopen Node ID Module 1 Not connected Not connected 0x10 Module 2 Not connected OFF 0x11 terminal 31 in the vehicle Module 9 ON Not connected 0x16 terminal 15 in the vehicle Option 2 Connect the modules one after the other to the CANopen bus Then change the node ID through the system parameters as described below Step Action Result 1 Connect module 1 to the CANopen bus 2 Enter a new node ID into the As a result module 1 has got a new system parameter with index node ID 0x4556 sub index 4 3 Then connect module 2 to the CANopen bus 4 Enter a new node ID into the As a result module 2 has got a new system pa
107. ut Maximum output current Frequency input 1 High frequency reject Frequency input 2 High frequency reject RX PDO timeout period RX PDO timeout enable Analog output Initial mode Frequency input 1 Timeout period Frequency input 2 Timeout period Analog input 1 Change threshold Analog input 2 Change threshold Analog input 3 Change threshold Analog input 4 Change threshold TX PDO 1 Minimum time TX PDO 2 Minimum time TX PDO 3 Minimum time TX PDO 4 Minimum time Frequency input 2 Number of periods rw Frequency input 1 rw Number of periods 88 Jetter AG JXM IO E02 Version sub index 1 CAN bus termination CAN baud rate CANopen node ID CANopen objects Index Sub index Default Description Attributes 76 60 TX PDO 1 Maximum time rw Tr leo ITX PDO 2 Maximumtime w 78 60 TX PDO 3 Maximum time rw i ciza leo TXPDO 4 Maximumtime w 80 1 PWM 1 Averaging window rw x times 8 ms of ADC 81 1 PWM 2 Averaging window rw x times 8 ms of ADC 82 1 PWM 3 Averaging window rw x times 8 ms of ADC 83 0 PWM frequency rw This parameter is read only The return value of this parameter should be 0 This parameter selects whether the CAN termination resistors 120 Q inside the JXM IO E02 must be activated one each at both ends of the CAN bus The following values are allowed 0x00 Both resistors are disabled 0x01 Resistor at the end of the C
108. uty cycle mode this parameter will actually change to sub index 5 to allow writing to the duty cycle register The PDO interface can therefore be used to also select the duty cycle The controller is able to read back the following data from the JXM IO E02 via PDO3_TX 0x400 node ID Byte offset Index sub i Size byte Description ndex 0 0x2300 04 2 Analog output voltage 2 0x2300 05 2 Analog output current The new JXM IO E02 software release OS 3 00 0 00 or higher contains a new system parameter feature This feature lets the user detect a timeout for the a m RX PDOs When activated in the system parameters the JXM IO E02 will expect to receive the RX PDOs in the specified time If the RX PDO message does not arrive the fault is triggered and all outputs controlled by this PDO are disabled Jetter AG 109 6 CANopen objects TX PDO allocation on the JXM IO E02 PDO assignment and The tables below show the allocation of TX PDOs implemented on the parameters JXM IO E02 CANopen objects are linked with their corresponding PDOs The controller is able to read back the following data from the JXM IO E02 via PDO1_RX 0x180 node ID Byte offset Index sub i Size byte Description ndex 0 0x2101 04 2 Digital outputs read back 2 0x2100 04 2 Digital inputs 4 0x2100 04 1 Tri state input 5 1 Frequency input Digital inputs 6 1 Switch feed output states The controller is able to read back the follow
109. value 1 Input ro states 1 bit channel 6 5 Parameter 0 Amount ro of inputs Sub index 2 The function of sub index 2 is described below Sub Index 2 lets you set inputs IN 1 through IN 5 to either active high internal pull down resistor or active low internal pull up resistor mode A bit value of 0 sets the input to active low input state OFF and a bit value of 1 sets the input to active high input state ON The value can also be read back to confirm Sub index 2 uses the one bit per channel data structure described below e Bit 0 Digital input IN 1 e Bit 1 Digital input IN 2 e Bit 2 Digital input IN 3 e Bit 3 Digital input IN 4 e Bit 4 Digital input IN 5 Sub index 4 The function of sub index 4 is described below Sub index 4 lets you retrieve the current state of IN 1 through IN 5 Sub index 4 returns the data in a two bit per channel format provided for backwards compatibility Sub index 4 uses the two bit per channel data structure described below e Bit 1 0 Digital input IN 1 e Bit 3 2 Digital input IN 2 e Bit 5 4 Digital input IN 3 e Bit 7 6 Digital input IN 4 e Bit 9 8 Digital input IN 5 In the two bit per channel configuration the following data values are possible e 0b00 Not used e 0b01 Input state OFF 62 Jetter AG JXM IO E02 Sub index 5 Sub index 6 Jetter AG CANopen objects e 0b10 Input state ON e 0b11 Not used The function of sub index 5 is described b
110. ve If this happens the EMCY 0x8001 is triggered to indicate that a device reset occurred in order to reprogram and test system parameters Writing setting system To write several system parameters in one go proceed as follows parameters Step Action 1 In object 0x4556 sub index 0 enter the value 0 2 Now enter the required values into the individual sub indeces 2 83 3 In object 0x4556 sub index 0 enter the value 1 4 Wait at least several 100 ms 5 In object 0x4557 read out sub index 1 Upon completion of the write process the value 0 should be returned Note that during a write access it is possible that reading this sub index could result in a timeout error To make changes to only one system parameter proceed as follows Step Action 1 Enter the new system parameter value 2 In object 0x4557 read out sub index 1 Upon completion of the write process the value 0 should be returned Note that during a write access it is possible that reading this sub index could result in a timeout error 98 Jetter AG JXM IO E02 CANopen objects Setting the delay When writing to the system parameters make sure that a delay is implemented after the SDO command The JXM IO E02 will reply to the SDO request to write to system parameters and will then write the data to non volatile memory This process can take as much as 50 ms Therefore it is recommended that a delay of 100 ms be implemented before the next SDO or PDO
111. witch Switch feed outputs Pn scription 30 Switch feed output 1 31 Switch feed output 2 Technical data Type of switch outputs Active high output Rated voltage STANDARD FEED Permissible voltage range DC 8 32V Signal voltage ON Ustanparp 0 5 V Short circuit capability Yes thermal undefined current Over current detection Detection whether the output has switched off 40 Jetter AG JXM IO E02 Mounting and installation PWM outputs alalolalale GHEE e Ge o tow L2 L a 25 C2 G3 4 E3 G3 E7 C3 EAIA E3 A I I L Cs C7 Cs O9 TER EJE a E a BE Gl SOU SE emn O ooe O BP BL pamos OO ECE ECE Ground return PWM output 1 Ground return PWM output 2 Ground return PWM output 3 Technical data 5 PWM outputs Operating Modes Current controlled output PWM output with static duty cycle PWM frequency Configurable values 0 1 954 kHz 1 977 Hz 2 488 Hz 3 244 Hz 4 122 Hz 5 61 Hz 6 30 Hz No load detection Jetter AG 41 4 Mounting and installation Connecting Analog Inputs and Outputs Introduction Analog output Technical data Analog output Analog inputs The following diagrams show the pinout of the connector as viewed from the front EE a 25 Weight se Analog output Eecresiwslion NM alalaolalole 19 6 3 G3 GC 3 G9 eo ey 2 3 aalr G3 643 G3 b9 3 0 0 8B ES amp E E 6o f1 E bJ
112. y measured output current in 1 mA units Sub index 5 The function of sub index 5 is described below Sub index 5 is used to set the PWM duty cycle The value must be in the range of 0 1 023 where 0 is a0 duty cycle and 1 023 is a 100 duty cycle Use the mode PWM Output with Static Duty Cycle in order to use the PWM output as a digital output Reading sub index 5 returns the most recent PWM duty cycle as a value in the range 0 1 023 Sub index 6 The function of sub index 6 is described below Sub index 6 lets you read out the maximum value that can be input via sub index 4 Sub index 7 The function of sub index 7 is described below Sub index 7 lets you read out the maximum value that can be input via sub index 5 Sub index 8 The function of sub index 8 is described below In Current Controlled PWM Output mode sub index 8 lets you set the Predictor parameter for the current control algorithm This parameter is an unsigned 16 bit word where the least significant byte is the divisor and the most significant byte is the multiplier The least significant byte of this parameter is not allowed to be zero because it is a divisor Sub index 9 The function of sub index 9 is described below In Current Controlled PWM Output mode sub index 9 lets you set the Proportional parameter for the current control algorithm This parameter is an unsigned 16 bit word where the least significant byte is t

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