Jetter JXM-IO-E31 User manual

User Manual
JXM-IO-E31
Expansion Module
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Jetter AG
Graeterstrasse 2
71642 Ludwigsburg
Germany
Phone
Switchboard [phone]
Sales [phone]
Technical Hotline [phone]
E-mail
Technical Hotline [email protected]
Sales [email protected]
Translation of the original User Manual
Revision 1.05.2
Date of issue 5/18/2021
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 resulting from such failure.

Jetter AG Table of contents
jxm-io-e31_ba_1052_manual iii
Table of contents
1 Introduction ......................................................................................................................................... 5
1.1 Information on this document .......................................................................................................5
1.2 Typographical conventions...........................................................................................................5
2 Safety ................................................................................................................................................... 6
2.1 General information......................................................................................................................6
2.2 Purpose ........................................................................................................................................6
2.2.1 Intended use.....................................................................................................................6
2.2.2 Usage other than intended ...............................................................................................6
2.3 Warnings used in this document ..................................................................................................6
3 Product description ............................................................................................................................ 7
3.1 Models..........................................................................................................................................7
3.2 Design ..........................................................................................................................................7
3.3 Diagnostics capabilities by means of status indication.................................................................8
3.4 Nameplate ....................................................................................................................................9
3.5 Scope of delivery..........................................................................................................................9
4 Technical specifications................................................................................................................... 10
4.1 Dimensions.................................................................................................................................10
4.2 Environmental conditions ...........................................................................................................10
4.3 Electrical properties....................................................................................................................11
4.4 Mechanical specifications...........................................................................................................11
4.5 EMC values ................................................................................................................................12
4.6 Inputs..........................................................................................................................................12
4.7 Outputs.......................................................................................................................................15
4.7.1 Current diagnostics at the outputs..................................................................................17
4.7.2 Overcurrent shutdown at outputs ...................................................................................18
5 Mechanical installation..................................................................................................................... 19
5.1 Mounting orientation...................................................................................................................20
5.1.1 Allowed mounting orientations .......................................................................................20
5.1.2 Prohibited mounting orientations....................................................................................21
5.2 Requirements for the installation location ..................................................................................21
6 Electrical connection ........................................................................................................................ 22
6.1 Connector specification ..............................................................................................................23
6.1.1 MOLEX connector - Pin assignment ..............................................................................23
6.1.2 MOLEX mating connector - Specification.......................................................................24

Jetter AG Table of contents
jxm-io-e31_ba_1052_manual iv
7 Programming..................................................................................................................................... 25
7.1 Performing an OS update via JetEasyDownload .......................................................................25
7.2 Setting the node ID.....................................................................................................................26
7.3 Concept and control ...................................................................................................................26
7.3.1 Configuration options of connections .............................................................................27
7.3.2 Available interfaces, parameters, values and statuses ..................................................28
7.4 Service Data Objects (SDO) ......................................................................................................36
7.4.1 Device information..........................................................................................................37
7.4.2 Diagnostic information....................................................................................................38
7.5 Mapping of Process Data Objects (PDOs).................................................................................39
7.5.1 RPDO communication parameters.................................................................................39
7.5.2 TPDO communication parameters .................................................................................40
7.5.3 Mapping tables ...............................................................................................................40
7.5.4 STX example 1...............................................................................................................41
7.5.5 STX example 2...............................................................................................................42
7.6 Acquisition of encoder signals....................................................................................................44
7.7 Saving settings permanently and resetting to default values .....................................................45
7.8 System parameters ....................................................................................................................46
7.9 NMT commands .........................................................................................................................46
7.10 Troubleshooting..........................................................................................................................46
7.10.1 Heartbeat........................................................................................................................47
7.10.2 Boot Message ................................................................................................................48
7.11 Current control with PID controller .............................................................................................48
7.11.1 Test scenario..................................................................................................................48
7.11.2 Current measurement at the PWMi_H3_X outputs ........................................................51
7.12 Dither technology for controlling hydraulic valves ......................................................................52
8 Maintenance and repairs .................................................................................................................. 53
8.1 Maintenance, repairs and disposal.............................................................................................53
8.2 Storage and shipment ................................................................................................................53
9 Service ............................................................................................................................................... 54
9.1 Customer service .......................................................................................................................54
10 Spare parts and accessories ........................................................................................................... 55

Jetter AG Introduction | 1
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1 Introduction
1.1 Information on this document
This document forms an integral part of the product and must be read and under-
stood prior to using it. It contains important and safety-related information for the
proper use of the product as intended.
Target groups This document is intended for specialists with appropriate qualifications.
Only competent and trained personnel is allowed to put this device into operation.
During the whole product life cycle, safe handling and operation of the device
must be ensured. 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 | Jetter - We automate your success.
For further information refer to the following information products:
■Version updates
Information about new versions of software products or of the operating sys-
tem of your controller.
■JetSym software Online Help
Detailed description of software functions with application examples
■Application-oriented manuals
Cross-product documentation
1.2 Typographical conventions
This manual uses different typographical effects to support you in finding and
classifying information. Below, there is an example of a step-by-step instruction:
üThis symbol indicates requirements which have to be met before executing
the following action.
►This sign or a numbering at the beginning of a paragraph marks an action in-
struction that must be executed by the user. Execute the instructions one after
the other.
ðThe target after a list of instructions indicates reactions to, or results of these
actions.
INFO Further information and practical tips
In the info box you will find helpful information and practical tips about your prod-
uct.

Jetter AG Safety | 2
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2 Safety
2.1 General information
When placed on the market, this product corresponds to the current state of sci-
ence and technology.
In addition to the operating instructions, the laws, regulations and guidelines of
the country of operation or the EU apply to the operation of the product. The op-
erator is responsible for compliance with the relevant accident prevention regula-
tions and generally accepted safety rules.
2.2 Purpose
2.2.1 Intended use
This module is for adding multifunctional inputs and outputs to controllers.
Operate the device only in accordance with the intended conditions of use, and
within the limits set forth in the technical specifications.
Intended use of the product includes its operation in accordance with this man-
ual.
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.
Machinery Directive This device is no safety-related part as per Machinery Directive 2006/42/EC, and
must, therefore, not be used for safety-relevant applications. This device is NOT
intended for the purpose of personal safety, and must, therefore, not be used to
protect persons.
2.3 Warnings used in this document
DANGER High risk
Indicates an imminently hazardous situation which, if not avoided, will result in
death or serious injury.
WARNING Medium risk
Indicates a potential hazardous situation which, if not avoided, could result in
death or serious injury.
CAUTION Low risk
Indicates a hazardous situation which, if not avoided, could result in minor or
moderate injury.
NOTICE Material damage
Indicates a situation which, if not avoided, could result in malfunctions or material
damage.

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3 Product description
The expansion module JXM-IO-E31 is the universal building block for remote I/
Os on self-propelled machines. With its balanced I/O configuration, it can handle
almost all remote tasks and is particularly suitable for controlling brushed DC mo-
tors in self-propelled machines.
Communication with the JXM-IO-E31 takes place via CANopen®. This allows for
integration into conventional CAN networks used in self-propelled machines.
3.1 Models
Some information in this document distinguishes between the following variants:
Variant Item number
JXM-IO-E31-G20-K00 10001911
JXM-IO-E31-G20-K00-O01 10002075
Observe the relevant information in the following chapters:
■Inputs [}13]
■MOLEX connector - Pin assignment [}23]
3.2 Design
1
6
5
2
2
3
4
Fig.1: Design
1Housing
2Fastening eye
3Connector
4Mounting surface
5LED indicators
6Contact pins

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3.3 Diagnostics capabilities by means of status indication
The module is equipped with 2 LEDs to indicate various states and errors.
Color Blinking pattern Description
Red Permanently ON Operating voltage is present. Neither boot
loader nor OS are running.
Red ON: 200ms The boot loader is running.
OFF: 200ms
Red
ON: 400ms The start process is completed without er-
rors.
The device is in the Stopped state.
OFF: 400ms
Green
ON: 200ms The startup process has been completed
without errors.
The device is in Pre-Operational mode.
OFF: 200ms
Green
ON: 200ms The startup process has been completed
without errors.
The device is in Operational mode.
OFF: 600ms
Green
3x ON/OFF
200ms
The start process is completed without er-
rors.
The device is in Calibration mode
Pause: 400ms
Red ON: 200ms
The device is in the Bus Off state.
Bus communication is not possible. There is
a wiring error.
OFF: 400ms
Green ON: 200ms
OFF: 400ms
Red 3x ON/OFF
200ms
Measured values are outside their specified
ranges. The following errors may have oc-
curred:
■The PCB temperature is too high.
■The CPU temperature is too high.
Green
ON: 400ms
OFF: 400ms

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3.4 Nameplate
1
6
5
4
3
2
Fig.2: Sample nameplate
1Logo
2Certification mark
3Registration number and hardware revision
4Barcode
5Serial number
6Model code number
3.5 Scope of delivery
Scope of delivery Item number Quantity
JXM-IO-E31-G20-K00 10001911 1
OR
JXM-IO-E31-G20-K00-O01
Model with CAN IN/OUT and extended
PT1000 measuring range
10002075 1

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4 Technical specifications
This chapter contains information on electrical and mechanical data, as well as
on operating data of the JXM-IO-E31.
4.1 Dimensions
43.1
93.5
38.4
139.8
124.8
76
1.5
Ø6.5
1.5
7.5
68.5
89.2
15.6
18.6
Fig.3: Dimensions in mm
4.2 Environmental conditions
Parameters Description Standards
Operating tempera-
ture
-40 … +85 °C ISO 16750-4
Storage temperature -40 … +85 °C
Relative humidity 5 … 95 %
Weather resistance The device is designed for use in all weather conditions
and is suitable for outdoor use.
Salt water resistance The device is not designed for maritime applications.
Degree of protec-
tion
IP23 ISO 20653:2013
with mating connec-
tor
IP66
Tab.1: Environmental conditions

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4.3 Electrical properties
Power supply of
output drivers
Parameters Description
Abbreviation VBAT_PWR
Total current Max. 24A
Operating voltage 8 …32 V DC
Protection against polarity
reversal
Max. 32V
There is a danger of a short circuit if the polarity is
reversed. Protect the circuit by an external 25 A
fuse.
Voltage protection +36V for 1 h at Tmax-20°C, function state C
Tab.2: Power supply of output drivers
ECU Parameters Description
Abbreviation VBAT_ECU
Operating voltage 8 …32 V DC
Protection against polarity
reversal
Max. 32V
There is a danger of a short circuit if the polarity is
reversed. Protect the circuit by an external 25 A
fuse.
Voltage protection +36V for 1 h at Tmax-20°C, function state C
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 Mechanical specifications
Parameters Description Standards
Weight 325 g
Enclosure specifications
Material Polyamide
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 duration 50 g for 11 ms
Number and direction 10 shocks in the directions of all three spatial axes
Free fall
Height of fall From 1 m height on solid
ground
ISO 16750-3
Tab.5: Mechanical specifications

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4.5 EMC values
The device has E1 approval according to ECE R10 Rev. 5 and CE conformity ac-
cording to ISO 14982.
Pulses to ISO
7637-2
Test pulse Description Functional class
1 -450V C
2a +37V B
2b +20V C
3a -150V A
3b +150V A
4 Ua1: -6 V / 50 ms
Ua2: -4 V / 500 ms
B (12 V systems)
5b Load dump
70V / 2Ω / 350 ms
A
Tab.6: Pulses to ISO 7637-2
Irradiation to ISO
11452
Parameters Description Functional class
Protection against RF
noise
20 MHz ... 2 GHz 100 V/
m
B
Tab.7: Irradiation to ISO 11452
Emission to CISPR
25
Parameters Description
Narrowband emission 30MHz ... 1000MHz Min. 1 dB below limit
Wideband emission 30MHz ... 1000MHz Min. 1 dB below limit
Tab.8: Emission to CISPR 25
ESD EN 61000-4-2 ESD EN 61000-4-2 Description Functional class
Contact discharge ±4kV A
Discharge through air ±8kV A
Tab.9: ESD EN 61000-4-2
4.6 Inputs
Within the operating voltage range, all inputs are voltage-proof and overcurrent
protected. The JXM-IO-E31 has 2 separate VEXT_SEN connector pins which
should be used to supply the sensors. The connector pins output the battery volt-
age via a PTC thermistor. The output voltage can be read back in the device so
that a failure of the sensor supply can be detected.
Alternatively, the analog inputs can also be used as digital inputs (DI_PNP).
In addition to the six analog inputs, there is one analog PT1000 input
(AI_PT1000) for using a PT1000 temperature sensor.

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Analog inputs Parameters Description
Analog inputs Abbreviation AI
Quantity 6 pcs.
Resolution 12 bits
Voltage measuring
Rated measuring range 0 … 10V
Overvoltage measurement 10 … 12V
Input resistance ≥ 35kΩ
Load resistor 120 Ω
Maximum voltage +32V
Measuring accuracy ±2% relative to the measuring range 10 V.
Current measurement
Measuring range 0…20mA
Overcurrent range 21…24mA
Measuring accuracy ±1.5% relative to the current measurement 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
Input frequency Max. 10 Hz
Input resistance ≥ 35 kΩ
Tab.10: Analog inputs
Analog PT1000 in-
put
Parameters Description
Analog PT1000 sensor in-
put
Abbreviation AI_PT1000
Quantity 1 pcs.
Measuring range
(JXM-IO-E31-G20-K00)
-45 °C ... +150 °C Resolution and Accuracy
±1 °C
Extended measuring range
(Only for
JXM-IO-E31-G20-K00-O01)
-45 °C ... +820 °C Resolution and Accuracy
±10 °C
Terminal/connection Between AI_PT1000 and
GND_PT1000
Tab.11: AI_PT1000
INFO Note that the extended measuring range of the PT1000 input only applies to the
JXM-IO-E31-G20-K00-O01 variant.

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Digital inputs
All digital inputs are PNP inputs. All outputs can also be used with restrictions as
simple digital NPN or PNP inputs.
Parameters Description
Digital inputs with frequency measurement
Abbreviation DI
Quantity 8 pcs.
Pulldown resistor < 5.6 kOhm
H level ≥ 4.6 V
L level ≤ 1.6 V
Input frequency 0.1Hz ... 10kHz
Dielectric strength Max. +32V
Tab.12: Digital inputs DI_1 ... DI_8
Configuration in-
puts
Configuration inputs are tristate inputs and are used to set the node ID. The base
address can be set by the user and has the default value 0x40. The node ID can
be shifted by connecting the configuration inputs with VBAT_ECU or GND via an
offset.
Parameters Description
Configuration inputs for configuring the node ID
Abbreviation CFG1_IN CFG2_OUT
Quantity 2
Tab.13: Configuration inputs CFG1_IN … CFG2_OUT
For more information refer to chapter Setting the node ID [}26]

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4.7 Outputs
Output
PWMi_H3
Parameters Description
High-side PWM output with precise current diagnostics
Abbreviation PWMi_H3
Quantity 4 pcs.
Peak Current 3 A per channel
Load range 0.2 A ... 3 A per channel
Properties No-load detection Compatible with induc-
tive load
Overcurrent detection,
precise current measure-
ment
Pulse width modulation
PWM frequency 10 … 1500 Hz
Resolution 0.1%
Dither frequency 50 … 200 Hz
Dither amplitude 10 … 90 %
Current control PID controller with configurable control parameters
Control period ≥ 5 ms, adjustable
Current diagnostics
Resolution 12 bits
Measuring range 0.2 A … 3 A
Measuring accuracy ±2.5% of the maximum value referred to the cur-
rent range 3A
Use as input PNP input
L level ≤ 1.6 V H level ≥ 4.6 V
Tab.14: Outputs PWMi_H3_1 ... PWMi_H3_4
Half-bridge outputs
All half-bridge drivers have a Hall effect sensor for more accurate current mea-
surement.
INFO With the 12 A half-bridges, the restriction applies that half-bridges 1 and 2, as
well as 3 and 4, must each operate at the same frequency. The frequency can
thus be set separately for each full bridge. This restriction does not apply to the 5
A half-bridges. Here, each half bridge can be set separately.
In order to achieve double current carrying capacity, selected outputs can be con-
nected in parallel. Example:
If pin PWMi_HL5_1 is configured to PWMO_HB10, then pin PWMi_HL5_ 2 is au-
tomatically allocated and outputs the same signal as PWMi_HL5_1.
This configuration is possible for the following pins:
■PWMi_HL5_1 (allocated PWMi_HL5_2)
■PWMi_HL5_3 (allocated PWMi_HL5_4)
■PWMi_HL12_1 (allocated PWMi_HL12_2)
■PWMi_HL12_3 (allocated PWMi_HL12_4)

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Output
PWMi_HL5
Parameters Description
PWM half-bridges up to 5 A with current monitoring
Abbreviation PWMi_HL5
Quantity 4 pcs.
Peak Current 5 A per channel
Load range 0.02 A ... 5 A per channel
Properties Compatible with induc-
tive load
Overcurrent detection,
current measurement
Pulse width modulation
PWM frequency 10Hz ... 1kHz
0.1%
1kHz ... 5kHz
1%
Resolution
Min. PWM frequency 10 Hz
Control period ≥ 5 ms, adjustable
Current diagnostics
Resolution 12 bits
Measuring range 0 A … 7.5 A
Measuring accuracy ±15 %
Tab.15: Outputs PWMi_HL5_1 ... PWMi_HL5_4
Output
PWMi_HL12
Parameters Description
PWM half-bridges up to 12 A with current monitoring
Abbreviation PWMi_HL12
Quantity 4 pcs.
Peak Current 12 A per channel
Load range 0.02 A ... 12 A per channel, 30 A peak load
Properties Compatible with induc-
tive load
Overcurrent detection,
current measurement
Pulse width modulation
PWM frequency 10Hz ... 1kHz
0.1%
1kHz ... 15kHz
1%
Resolution
Min. PWM frequency 10 Hz
Current diagnostics
Resolution 12 bits
Measuring range 0…15A
Measuring accuracy ±15 %
Tab.16: Outputs PWMi_HL12_1 ... PWMi_HL12_4

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Sensor output
VEXT_SEN
Parameters Description
Output for supplying sensors.
Abbreviation VEXT_SEN
Quantity 2 pcs.
Measurement accuracy
(voltage)
1%
Properties Protected against short
circuit
Tab.17: Sensor output VEXT_SEN
Outputs
VREF_10V
Parameters Description
Abbreviation VREF_10V
Quantity 1 pcs.
Operating voltage 10V
Accuracy 1%
Operating current Min. 100 mA
Accuracy 1%
Diagnostic functions The voltage generated at
the 10 V power supply
can be read out via
SDO. Each channel can
be checked for short cir-
cuit.
Tab.18: VREF_10V
4.7.1 Current diagnostics at the outputs
The outputs use the internal resistor (RDSon) of the output driver for current
measurement. All outputs are calibrated at the factory to achieve the highest pos-
sible accuracy. For low current values, the measurement is not linear. The mea-
surement is therefore linearized by the firmware:
T1 T2
A
B
Fig.4: Graph: Principle of linearization
1Current value
2ADC value
T1 is 200mA. Current below this value is displayed as 0.
T2 is 500mA. From 500mA to 200mA the measured current value is linearized.

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4.7.2 Overcurrent shutdown at outputs
If overcurrent flows through an output for 500 ms (default value), the overcurrent
shutdown becomes active. This value can be changed using the parameter
OVERCURRENT_TIME. If an overcurrent event occurs, the output shuts down
and the overcurrent bit is set for 10 seconds. During this time the port cannot be
switched on again.
Re-enabling the
port
üYou are in OPERATIONAL mode.
üYou waited 10 seconds after the output switched off.
►Set the output value (digital or PWM) of the respective port again.

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5 Mechanical installation
WARNING Risk of burns
Contact with hot surface may cause burns.
►Take protective measures to prevent inadvertent contact with the device.
►Allow the device to cool down for some time before you start working on it.
NOTICE Damages to material or functional impairment
Welding on the chassis may cause damages to material of the device, or impair
its functions.
►Before you start welding, disconnect all connections between the device and
the electric system of the vehicle.
►Protect the device from flying sparks and welding beads (splatter).
►Do not touch the device with the welding electrode or earth clamp.
NOTICE Dirt and moisture can affect the electrical connections.
►Plug unused pins with blanking plugs.
►Protect all electrical connections with appropriate single wire seals.

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5.1 Mounting orientation
5.1.1 Allowed mounting orientations
12 2
42 5
3
Fig.5: Allowed mounting orientations