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8.6.3 Mapping tables

RPDO mapping table

Index

Subind
ex

Description

Type

Type of
access

Default value

0x1600
…
0x1603

Number of supported entries

R/W

First object that is mapped

U32

R/W

Second object that is mapped

U32

R/W

…

U32

R/W

64. Object to be mapped

U32

R/W

Tab. 39:

RPDO mapping table

TPDO mapping table

Index

Subind
ex

Description

Type

Type of
access

Default value

0x1A00
…
0x1A03

Number of supported entries

R/W

First object that is mapped

U32

R/W

Second object that is mapped

U32

R/W

…

U32

R/W

64. Object to be mapped

U32

R/W

Tab. 40:

TPDO mapping table

Mapping entry U32

Byte

2 and 3

Content

Bit length

Subindex

Index

Tab. 41:

Mapping entry U32

Summary of Contents for JXM-IO-EW30

Page 1: ...User Manual JXM IO EW30 Expansion module We automate your success 60885727_00 ...

Page 2: ... the original User Manual Revision 2 15 1 Date of issue 7 28 2021 This document has been compiled by Jetter AG with due diligence and based on the known state of the art Revisions and further development of our products are not automatically mentioned in a reviewed document Jetter AG shall not be liable for errors in form or content or for missing updates as well as for damages or disadvantages re...

Page 3: ...echnical specifications 11 4 1 Dimensions 11 4 2 Mechanical specifications 11 4 3 Electrical properties 12 4 4 Environmental conditions 12 4 5 EMC values 13 4 6 Outputs 14 4 6 1 Current diagnostics at the outputs 16 4 6 2 Overcurrent shutdown at outputs 16 4 7 Inputs 16 5 Mechanical installation 19 5 1 Requirements for the installation location 19 5 2 Allowed mounting orientations 19 6 Electrical ...

Page 4: ...values 40 8 5 System parameters 41 8 6 Mapping of Process Data Objects PDOs 41 8 6 1 RPDO communication parameters 42 8 6 2 TPDO communication parameters 42 8 6 3 Mapping tables 43 8 6 4 Mapping of digital values 44 8 6 5 STX example Output value AI1 Voltage to TPDO1 45 8 7 Frequency measurement at the digital inputs 46 8 8 Acquisition of encoder signals 47 8 9 Troubleshooting 48 8 9 1 Heartbeat 4...

Page 5: ...ured In the case of missing or inadequate technical knowledge or knowledge of this document any liability is excluded Availability of infor mation Make sure this document is kept at the ready in the vicinity of the product throughout its service life For information on new revisions of this document visit the download area on our website This document is not subject to any updating service Start J...

Page 6: ...use of the product includes its operation in accordance with this man ual SELV The operating voltage of this device is classified as Safety Extra Low Voltage and is therefore not subject to the European Low Voltage Directive The device may only be operated from a SELV source 2 2 2 Usage other than intended Do not use the device in technical systems for which a high level of fail safety is required...

Page 7: ...Jetter AG Safety 2 jxm io ew30_ba_2151_manual 7 56 NOTICE Material damage Indicates a situation which if not avoided could result in malfunctions or material damage ...

Page 8: ...w30_ba_2151_manual 8 56 3 Product description 3 1 Design 1 2 3 4 5 6 Fig 1 Design 1 Fastening screws for attaching the lower part 2 Mounting lugs 3 Housing cover 4 5 pin M12 connector 5 M25 cable gland 6 PCB with 5 connectors and a DIP switch ...

Page 9: ...driver supply Total current output of up to 25 A 3 3 Diagnostic capability via LEDs The JXM IO EW30 G27 has two LEDs that indicate various states and errors LEDs Blinking pattern Description LED right Permanently ON Operating voltage is present The bootloader is not working LED right ON 200 ms Bootloader is not working The device has no firmware OFF 200 ms LED right ON 400 ms The startup process i...

Page 10: ...s may have occurred The PCB temperature is too high The CPU temperature is too high The maximum current consumption has been exceeded LED left ON 400 ms OFF 400 ms 3 4 Nameplate 1 6 5 2 3 4 Fig 2 Nameplate 1 Company logo 2 Item name 3 Item number 4 Serial number 5 Bar code 6 Hardware revision 7 Certification mark 3 5 Scope of delivery Scope of delivery Item number Quantity JXM IO EW30 G27 10002041...

Page 11: ...mensions are reduced downwards tolerance according to GTA 13 5 DIN 1688 These di mensions are marked with an in the figure 4 2 Mechanical specifications Parameter Description Standards Weight 1 2 kg Enclosure specifications Material Aluminum Enclosure potential Isolated Vibration resistance 10 Hz 150 Hz 6 h ISO 16750 3 Shock resistance Type of shock Half sine wave ISO 16750 3 Intensity and duratio...

Page 12: ...2 V max There is a danger of a short circuit if the polarity is re versed Protect the circuit by an external 25 A fuse Current consumption At 12 V approx 49 mA total cur rent at VEXT_SEN At 24 V approx 34 mA total cur rent at VEXT_SEN Tab 3 ECU power supply Connections to ground Pin Purpose GND_PWR Ground for VBAT_PWR and VBAT_ECU GND_SEN Ground for VEXT_SEN Tab 4 Connections to ground 4 4 Environ...

Page 13: ... 24 V systems 4 C 12 V systems E1 5b Load dump 70 V 2 Ω 350 ms C Tab 7 Pulses to ISO 16750 2 Irradiation to ISO 11452 Parameter Values Functional class Protection against RF noise 20 MHz 2 GHz 60 V m A 20 MHz 2 GHz 75 V m B 20 MHz 57 MHz and 82 MHz 2 GHz 100 V m B Tab 8 Irradiation to ISO 11452 Emission to CISPR 25 Parameter Values Narrowband emission 30 MHz 1000 MHz Min 1 dB below limit Wideband ...

Page 14: ...tics Resolution 12 bits Measuring range 0 2 A 4 A Measuring accuracy 2 5 of the maximum value referred to the current range 3 A Use as input PNP input or NPN input NPN and PNP input Switching the interface to NPN or PNP affects the entire PWMi_H3_x group L level 1 6 V H level 4 6 V Input resistance PNP 94 kΩ NPN 10 kΩ Tab 11 Outputs PWMi_H3_1 PWMi_H3_4 Output PWM_H7 Parameters Description High sid...

Page 15: ...output with current diagnostics Abbreviation DO_H3 Quantity 4 pcs Peak Current 3 A per channel Total current 6 A max for all 4 channels Switch load 0 02 A 3 A On Off switching fre quency Max 50 Hz Properties No load detection Compatible with inductive load Overcurrent detection Current diagnostics Current Measuring accuracy Related to the measuring range 3 A 0 2 A 45 1 5 A 35 1 5 A 3 A 25 Use as i...

Page 16: ...ercurrent flows through an output for 500 ms default value the overcurrent shutdown becomes active This value can be changed using the parameter OVERCURRENT_TIME If an overcurrent event occurs the output shuts down and the overcurrent bit is set for 10 seconds During this time the port cannot be switched on again Re enabling the port ü You are in OPERATIONAL mode ü You waited 10 seconds after the ...

Page 17: ...s active Measuring cycle 1 ms Current measurement Measuring range 0 20 mA Overcurrent range 21 24 mA Measuring accuracy 1 5 referred to the current measuring range 20 mA Behavior in case of overcurrent detection In case of overcurrent the current measurement is interrupted At the end of the overcurrent event the current measurement is automatically resumed As DI_PNP H level 4 6 V L level 1 6 V Inp...

Page 18: ...dress can be set by the user and has the default value 0x30 The node ID can be shifted by connecting the configuration inputs with VBAT_ECU or GND via an offset Category Description Configuration inputs for configuring the node ID Abbreviation CFG1_IN CFG2_OUT Quantity 2 Tab 17 Configuration inputs CFG1_IN CFG2_OUT For more information refer to chapter Setting the node ID 38 ...

Page 19: ...le or to a mounting plate Tab 18 Requirements for the mounting surface Requirements for the screw connec tion Category Description Screws bolts Diameter 6 mm Lock washers Lock washers are recommended to prevent vibration induced loosening of the screws Tightening torque 4 Nm max Cable fixation and strain relief Mechanical fixation and strain relief of the cables is necessary to avoid vibration ind...

Page 20: ...arated from each other NOTICE Damages to material or functional impairment Improper implementation of the wiring harness may cause mechanical stress Protect the cables from bending twisting or chafing Install strain reliefs for the connecting cables NOTICE Surges resulting from missing protection or fusing Surges may cause malfunctions or damage to the product Protect the voltage inputs from surge...

Page 21: ...7_4 PWM_H7_5 PWM_H7_6 12 10 8 6 4 2 11 9 7 5 3 1 GND_PWR GND_PWR GND_PWR GND_PWR GND_PWR GND_PWR GND_PWR GND_PWR PWMi_H3_1 PWMi_H3_2 PWMi_H3_3 PWMi_H3_4 DO_H3_1 DO_H3_2 DO_H3_3 DO_H3_4 16 14 12 10 8 6 4 2 15 13 11 9 7 5 3 1 8 6 4 2 7 5 3 1 VEXT_SEN_3 GND_SEN GND_SEN GND_SEN DI_1 DI_2 DI_3 DI_4 VEXT_SEN_1 GND_SEN GND_SEN GND_SEN VEXT_SEN_2 GND_SEN GND_SEN GND_SEN AI_1 AI_2 AI_3 AI_4 AI_5 AI_6 AI_7 ...

Page 22: ...utput driver GND_PWR Ground power outputs GND_SEN Ground sensor power supply CFG Configuration pin for setting the CAN ID n c Reserved pin that must not be connected Seal unused pins with pin plugs Tab 20 Abbreviations used in this document 6 1 1 1 2 row 1 conductor female multipoint connector Counterpart to 16 pin WAGO connec tor connection 1 3 and 5 see Printed Circuit Board 21 Parameter Descrip...

Page 23: ... collar 0 25 1 mm Stripping length 6 7 mm 0 24 0 28 inch Number of pins 12 Connector Contact design Female connector socket Connector connection type For conductors Mismating protection Yes Locking of plug in connec tion Locking lever Counterpart to 8 pin WAGO connec tor connection 2 see dynamic_link linkid 283277708 use grab dy namic true PCB dynamic_link Parameter Description Manufacturer WAGO M...

Page 24: ...t no XHP 4 Number of contacts 4 Number of rows 1 Pin spacing 2 5 mm Gender Female Length 12 3 mm Width 5 7 mm Enclosure material Polyamide 6 1 2 DIP Switch A DIP switch with sliders 1 4 is located on the printed circuit board The DIP switch lets you enable disable the functions listed below ON 1 2 3 4 Fig 6 DIP switch sliders 1 4 Slider Position Function 1 ON High range 0 10 V enabled for AI_7 OFF...

Page 25: ...xm io ew30_ba_2151_manual 25 56 6 1 3 5 pin male connector M12 1 2 4 3 5 1 2 3 4 Fig 7 M12 plug 5 pin A coded Pin Signal Description 1 n c Reserved 2 VBAT_ECU Power supply ECU 3 GND_ECU Ground for GND_PWR 4 CAN_H CAN High 5 CAN_L CAN Low ...

Page 26: ...tile production relevant data Determining the OS version of the device and its software components 7 1 1 Device information Device information Index Subindex Description Type Type of ac cess Default value 0x1018 0 Number of supported entries U8 R 1 Manufacturer ID U32 R 0x000000 B3 2 Product code U32 R 3 Revision number U32 R 4 Serial number U32 R 0x1000 0 Type of device U32 R 0x1008 0 Device Name...

Page 27: ...6 R 13 Reserved 14 Reserved 15 Minimum OS version U32 R 16 Minimum boot loader version U32 R Tab 22 EDS information Electronic name plate Index Subindex Description Type Default 0x4565 0 Number of supported entries U32 5 1 Version number of the elec tronic name plate U32 0 2 Command U32 0 3 Product serial number String 0 4 Item number String 0 5 Product revision String 0 Tab 23 Electronic nameplat...

Page 28: ...load You can update the operating system file of the device using a Peak CAN dongle and the command line tool JetEasyDownload version 1 00 0 15 or higher by Jetter JetEasyDownload parameters To call JetEasyDownload you need specific parameters Parameter Description Values H Num Hardware 0 PCAN_ISA1CH 1 PCAN_ISA2CH 2 PCAN_PCI_1CH 3 PCAN_PCI_2CH 4 PCAN_PCC_1CH 5 PCAN_PCC_2CH 6 PCAN_USB_1CH 7 PCAN_US...

Page 29: ...st be a CAN connection between Peak CAN dongle and JXM IO EW30 G27 1 Call up JetEasyDownload with the above parameters and a valid OS file ð The device carries out a reset ð The device starts in boot loader mode with a single heartbeat in init state data 0x00 2 Wait for approx 7 seconds while the device formats the flash memory ð The device starts the download process ð The device starts automatic...

Page 30: ...bout the status of the interface IO Port IO Interface ID 1 IO Interface ID 2 IO Interface ID 3 IO Interface ID 4 Values Parameters Status Values Parameters Status Values Parameters Status Values Parameters Status Fig 8 Concept and control 8 1 1 Configuration options of connections The table below shows an overview of the ports and the respective interfaces Ports Description Supported interfaces AI...

Page 31: ...le interfaces parameters values and sta tuses 32 to a port Use the other subindeces to access the parameters values and sta tuses INFO Assigning Interfaces You can only assign an interface in the Pre Operational state during the start process Index Subindex Description Type Type of ac cess Default value 0x2100 0x2119 0 Number of supported entries U8 R 1 ID of the interface U32 R W 0 disabled 2 I O...

Page 32: ...e Operational state ID Dez Hex Interface Parameter Values Status 0 INACTIVE IO Disabled 1 AI_VOLTAGE Analog voltage input SENSOR_SUPPLY FILTER_DEEP MIN_DEVIATION I_VOLTAGE I_RATIO OVERVOLTAGE SUPPLY_FAULT ERROR INACTIVE 2 AI_CURRENT Analog Current input 0 24 mA SENSOR_SUPPLY FILTER_DEEP MIN_DEVIATION I_CURRENT OVERCURRENT SUPPLY_FAULT ERROR INACTIVE 3 DI_PNP Digital input active high with pull dow...

Page 33: ...HS3 High side digital output up to 3 A MAX_CURRENT FILTER_DEEP OVERCURRENT_TIME MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_DETEC TION SENSOR_SUPPLY O_DIGITAL I_HCURRENT OVERCURRENT SUPPLY_FAULT ERROR INACTIVE OPEN_CIRCUIT 8 Reserved 9 Reserved 10 a CPWMO_HS3 High side output up to 3 A with current control PWM_FRQ DITHER_FRQ DITHER_AMP CURRENT_CONTROL_P CURRENT_CONTROL_I CURRENT_CONTROL_D CURRENT_CON TR...

Page 34: ...tput up to 7 A MAX_CURRENT FILTER_DEEP OVERCURRENT_TIME MIN_DEVIATION MIN_CURRENT OPENCIRCUIT_DETEC TION SENSOR_SUPPLY O_DIGITAL I_HCURRENT OVERCURRENT SUPPLY_FAULT ERROR INACTIVE OPEN_CIRCUIT 13 d FI_NPN Frequency input active low with pull up SENSOR_SUPPLY TIMEOUT_TIME GATE_TIME I_DIGITAL I_COUNTER I_FRQ I_DUTY_CYCLE I_PERI ODIC_TIME I_H_PULSE_TIME I_L_PULSE_TIME TIMEOUT SUPPLY_FAULT ERROR INACT...

Page 35: ... 15 I_DUTY_CYCLE PWM duty cycle U16 R 1 per mil 16 I_DIGITAL Digital value BOOL R 0 1 17 I_COUNTER Count value U32 R 0 4294967295 18 I_PERIODIC_TIME Periodic time U32 R 1 µs 19 I_HPULS_TIME H pulse time U32 R 1 µs 20 I_LPULS_TIME L pulse time U32 R 1 µs 22 I_DIRECTION Current direction U8 R 0 2 0 no movement 1 forward 2 backward Tab 28 IO interface input values IO interface output values Subindex ...

Page 36: ...trol D component x1000000 U32 R W 0 4294967295 57 MAX_CURRENT Maximum current that cannot exceed the specified value in the interface type U16 R W 1 mA 58 OVERCURRENT_TIME In the event of overcurrent the unit is switched off after the corresponding time de fault value 500 ms U32 R W 1 ms 59 TIMEOUT_TIME Sets the TIMEOUT bit in the status during frequency mea surement if no signal change is present...

Page 37: ...PWMi H3 outputs min 200 mA Other out puts min 500 mA 65 OPENCIRCUIT_ DETECTION Enables disables the cable break detection of a port Mode 1 checks once during boot whether a load pulls the output to GND Mode 2 additionally checks in the switched on state whether MIN_CURRENT has been undershot U16 R W 0 No cable break detec tion 1 Cable break detec tion only in PREOPERA TIONAL mode 2 Perma nent cabl...

Page 38: ...able breakage This status entry is only checked while the de vice is booting 0x00000100 TIMEOUT The time for frequency measurement has been ex ceeded 0x00000200 CC_UNLOCK The current control is not within the control range Tab 31 Status of IO interface 8 2 Setting the node ID The base node ID can be set in the System parameters 41 The default value is 0x30 The configuration inputs CFG1_IN and CFG2...

Page 39: ...0 1 C 7 CPU temperature I16 R 0 1 C 9 CPU VRef U16 R mV 10 SPWR1 U16 R mV 11 SPWR2 U16 R mV 12 SPWR3 U16 R mV 13 VBAT_ECU U16 R mV 14 CFG_1_IN U16 R mV 15 CFG_2_OUT U16 R mV 20 Total current 50 U32 R mA Tab 32 Diagnostic information Status information Index Subindex Description Type Type of access 0x1001 0 Error register U8 R Bit 0 Generic error R Bit 1 Total overcurrent R Bit 3 Temperature R Bit ...

Page 40: ...x64616F6C load is written all set tings are reset to the default values Tab 35 Resetting the settings to their default values INFO Loading the settings from the EEPROM During bootup the last saved settings are automatically loaded During a firmware update the settings may be reset to the default values Setting parameters The parameters are set as follows 1 The vehicle controller configures the par...

Page 41: ...pter Saving settings permanently and resetting to default values U32 R 3 CAN baud rate U8 R W 1 0 125 kBaud 1 250 kBaud 2 500 kBaud 3 1 MBaud 4 CANopen node ID U8 R W Tab 36 System parameters INFO Activating the set system parameters You can only use the set system parameters after restarting the system 8 6 Mapping of Process Data Objects PDOs The following parameters let you set the transmit PDOs...

Page 42: ...ssion Type U8 R Acyclic type 0 3 Inhibit Time U16 R W 0 1 ms 10 5 Event Time U16 R W 1 ms 10 Tab 37 RPDO communication parameters 8 6 2 TPDO communication parameters Index Subind ex Description Type Type of access Unit Default value 0x1800 0x1803 0 Number of sup ported entries U8 R 0 1 COB ID user configurable value for PDOs U32 R W Index 0x1800 0x180 node ID Index 0x1801 0x280 node ID Index 0x180...

Page 43: ...t that is mapped U32 R W U32 R W 64 64 Object to be mapped U32 R W Tab 39 RPDO mapping table TPDO mapping table Index Subind ex Description Type Type of access Default value 0x1A00 0x1A03 0 Number of supported entries U8 R W 0 1 First object that is mapped U32 R W 2 Second object that is mapped U32 R W U32 R W 64 64 Object to be mapped U32 R W Tab 40 TPDO mapping table Mapping entry U32 Byte 0 1 2...

Page 44: ... access to inputs PWMi_H3 and DO_H3 U8 R Bits 0 3 represent index 0x210c 0x210f subindex 16 Bits 4 7 represent index 0x2116 0x2119 subindex 16 4 Read access to inputs PWM_H7 U8 R Bits 0 5 represent index 0x2110 0x2115 subindex 16 Tab 42 Mapping of digital values Displaying digital values The SDO shows the value I_DIGITAL for selected values If you have not previously configured the corresponding p...

Page 45: ...NISHED iBusy continue Disabling mapping dTemp 0 CanOpenDownloadSDO cCanChannel cJXMNodeId 0x1a00 0 CANOPEN_BYTE 1 dTemp iBusy when SDOACCESS_FINISHED iBusy continue Entering value AI1 Voltage dTemp 0x21000a10 Index 0x2100 sub index 0x0a 10 length 0x10 16 bits CanOpenDownloadSDO cCanChannel cJXMNodeId 0x1a00 1 CANOPEN_DWORD 4 dTemp iBusy when SDOACCESS_FINISHED iBusy continue Enabling mapping dTemp...

Page 46: ...determined using this method In order to achieve the resolution of 0 1 Hz for low frequency signals the gate time must be ad justed accordingly The maximum gate time is 10 seconds INFO Gate time and update rate A gate time of 10 s means that the update rate is also 10 s Pulse length measurement This method is suitable for the resolution of low frequencies It is based on the time between the edge c...

Page 47: ...3 DI_P_4 1 3 3 3 1 1 1 2 4 4 4 2 2 2 1 1 1 1 1 1 1 t 2 DI_P_3 DI_P_4 1 3 3 3 1 1 1 2 4 4 4 2 2 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 t Tab 44 Resolution of the encoder signals IO interface input values You can query the following input values Input value Description PDO send condition I_COUNTER 32 bit counter running forward and backward Event time not sent in case of change I_DIRECTION Current direction ...

Page 48: ...es of the error memory The error memory can be accessed via index 0x1003 Index Subindex Description Type Dir Default value 0x1003 0 Number of errors U8 R W 0 Entering 0 clears the entire memory Values 0 are not allowed 1 Latest Error Field entry U32 R 2 254 Other current Error Field entries U32 R Tab 48 Subindeces of the error memory Emergency Error Codes Code Description 0x0000 No error or error ...

Page 49: ... 50 Index of the heartbeat message 8 10 Current control with PID controller The individual P I and D controllers usually have the following characteristics 0 5 1 0 1 5 2 0 2 5 3 0 3 5 4 0 4 5 0 2 0 0 0 4 0 6 0 8 1 0 1 2 A B 0 0 PID PI P I PD Fig 9 Comparison of controller types in a control loop A Step response B Time 8 10 1 Test scenario The PID controller was tested on JXM IO EW30 G27 the under ...

Page 50: ...point red actual value Fig 10 Test scenario with the control parameters P 100 000 I 0 D 0 The P controller works well with this value However the setpoint is not reached which corre sponds to the typical behavior of a P controller see Current control with PID controller 49 Closed loop control parameters P 100 000 I 5 000 D 0 Measurements blue setpoint red actual value Fig 11 Test scenario with the...

Page 51: ...0 I 5 000 D 400 The D controller causes the actual value to approach the setpoint more quickly Closed loop control parameters P 100 000 I 10 000 D 400 Measurements blue set point red actual value Fig 13 Test scenario with the control parameters P 100 000 I 10 000 D 400 In this example the period of the setpoint signal was selected with approx 10 ms for illustrative purposes For fast control the P ...

Page 52: ...easures the current only in the middle of the ON time of the PWM signal No ratio of ON time to OFF time is calculated therefore an integral com ponent is necessary for the most correct measurement Usually valves already have a good average of the load current due to their self inductance Purely resistive loads can be operated on the controller if the PWM frequency is set to 1 KHz The low pass filt...

Page 53: ... device and its functions are not allowed In the case of modifications to the device any liability is excluded The original parts are specifically designed for the device Parts and equipment from other manufacturers must therefore not be used Any liability for any damages resulting from the use of non original parts and equipment is excluded 9 2 Storage and shipment Storage When storing the device...

Page 54: ...our technical hotline or use the contact form on our homepage Technical hotline Jetter We automate your success You are also welcome to send an e mail to our technical hotline hotline jetter de Please supply the following information when contacting our technical hotline Hardware revision and serial number For the hardware revision number please refer to the nameplate OS version For the operating ...

Page 55: ...al 55 56 11 Spare parts and accessories NOTICE Inadequate accessories might cause damage to the product Parts and equipment from other manufacturers might impede the function of the device and cause damage to the product Only use accessories recommended by Jetter AG ...

Page 56: ...We automate your success Jetter AG Graeterstrasse 2 71642 Ludwigsburg www jetter de E mail info jetter de Phone 49 7141 2550 0 ...

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