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JCM-350-E03

1. Jetter AG 115 7 CANopen Objects Objects PWM Output Index 0x2400 through 0x2402 PWM Output 1 3 The structure of the objects PWM Output is shown in the following table Index 0x2400 through These objects are for configuring the three PWM outputs Also the controlled 0x2402 output current or a PWM duty cycle can be set as process value Number of entries ro read only Not used Functional mode rw read amp write Not used Process value 0 Output current Process value 1 Duty cycle Parameter 0 Max value Parameter 1 Max ro value Predictor parameter Proportional parameter Integrator parameter PWM predictor auto tune function Sub Index 2 The function of sub index 2 is described below Sub index 2 can be used to select between the following modes of operation 0x01 Current controlled PWM output 0x02 PWM output with static duty cycle To select one of the above modes write the corresponding value to 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 will be disabled and a fault will be reported by the JXM IO E02 The maximum value is to be entered into sub index 6 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 valu
2. Death severe injury irreversible The hazard is imminent Death severe injury irreversible Potential occurrence Slight injury reversible Potential occurrence Material damage Potential occurrence JCM 350 E03 Contents Table of Contents Hazard Levels aynina near a i ea a a a an a 5 1 Safety Instructions 11 General Safety INStructiOnS 0 cc cece cece eee eeeeee ee eeneeeeeeeneeeeeseeeeeeeseneeeeeseeeaeeesenaeeeseaeeeeneenanees 12 Residual Dangers and Protective Measures cece eeeeeeeeete eee eeteneee ee tteeeee tenes tieeeeertneeeeeeaa 14 2 Product Description and Design 15 Product Description JCM 350 E038 cccecccceceeeeeeeecaeeeeeeeeececeecaeceeeeeeceeeaecaeeeeeeeeeseneacaeeeeeeee 16 Parts and IM MACCS cccecanncsaecas ceednnncs caaancatunstwdsatxcasdeadasnenendaannde dare esaaceas R diana E a 17 Order Reference Options ccccccceceeeeeeeennceeceeeeeseceanaeceeeeeseeaaaanaeeeeeeeeeseceaaaeeeeeeesenensaaeeeeeeess 18 Physical Dimensions i iiec0 accscces Howse a nana AANA EO TEE EAE EO OTE 19 3 Identifying the Controller 21 3 1 Identification by Means of the Nameplate cccccssseeeeeseneeeeeseeneeeeseeeeeenseeneesseceeeeenseaneeenees 22 Nameplates ieroesscctac incu cuediveadeesceaeate e E NEEE a CENNE aeaa EE A ATEAREN 23 3 2 Electronic Data Sheet EDS sia E AAAA ARa ENa ARREA AAE AR ARARNAR 24 EDS File eds iMi sisena iia i a i ae
3. CANNo CAN channel number 1 CANMAX IPGN PGN 0 OxSFFFF Parameter Group Number BytePos Starting position of the byte of 1 n data to be sent BitPos Starting position of the bit of data 1 8 to be sent DataType Data type of data to be sent 1 3 10 16 DataLength Volume of data for the global variable VarAddr VarAddr Global variable into which the value to be sent is entered TJ4939Tx Control structure Control structure me Time lag between two telegrams a Value 1 000 ms gt Inhibit Time InhibitTime Minimum time lag between two Default Value 100 ms telegrams received lt EventTime 148 Jetter AG JCM 350 E03 Return Value Parameter CANNo Parameter DataType SAE J1939 STX API The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters The value of the CANMAX parameter depends on the device The following table provides information on this point res a Data types can include the following Byte types Bit types SAEJ1939 1 SAEJ1939_ UNSIGNED8 SAEJ1939_ BYTE 2 SAEJ1939_UNSIGNED16 SAEJ1939_ WORD SAEJ1939_UNSIGNED32 SAEJ1939_DWORD a E sree zor a ster ser sever sees stesso sor sere Jetter AG 149 8 SAE J1939 STX API Control Structure TJ1939Tx Struct TJ1939Tx Status of sent message byStatus Byte Priority of sent message byPriority Byte End Struct
4. Node ID Node 4 NodeID Node_1 74 Node ID Node 5 Event Time 3000 NodeID Node 2 112 Event _Time in ms Inhibit time in ms Inhibit Time 100 End Const Var Data_l_of Node 1 Int Data_2 of Node 1 Int Data_1_ of Node 2 Byte End Var Task main autorun Var SW_ Version String End Var SW Version v4 3 0 2004 Jetter AG 93 6 CANopen STX API Initialization CAN 0 CanOpenInit CAN CONTROLLER _0 NodeID Node 0 SW Version Send data per PDO CanOpenAddPDOTx CAN CONTROLLER 0 CANOPEN PDO2_TX NodeID Node_1 0 CANOPEN DWORD sizeof Data 1 of Node 1 Data_1 of Node _1 Event Time Inhibit Time CANOPEN ASYNCPDORTRONLY CANOPEN NORTR CanOpenAddPDOTx CAN CONTROLLER 0 CANOPEN PDO2_TX NodeID Node_1 4 CANOPEN DWORD sizeof Data_2 of Node 1 Data_2 of Node 1 Event Time Inhibit Time CANOPEN ASYNCPDORTRONLY CANOPEN NORTR CanOpenAddPDOTx CAN _CONTROLLER_0 CANOPEN PDO3 TX NodeID Node 2 0 CANOPEN BYTE sizeof Data 1 of Node 2 Data_1 of Node 2 Event Time Inhibit Time CANOPEN ASYNCPDO CANOPEN NORTR All devices on the CAN bus have the status of PREOPERATIONAL Set all devices on the CAN bus to OPERATIONAL status CanOpenSetCommand CAN CONTROLLER 0 CAN CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN_NMT_ START As from now PDO telegrams will be transmitted
5. 9 3 9 4 9 5 9 6 9 7 10 11 12 13 Appendix A Jetter AG Sample Program Runtime Registers 0 ccc cence eeeeeeeeeeeneeeeeeeaeeeseeaeeeseaeeeeeeeiaeeeseeneeeeneaes 177 Addressing the JXM IO E02 via CANOPeI ccccceceeeseeeeeeeeeeeeeeeseeeeseeeeeeeeeseneeesensesneeeesenees 178 Digital OUTPUTS ice cecec ce ceecciseteceve a tech levi veceitessesteesavecnteessecnieense eateries 179 Reading In the Number of Available Digital Outputs Per SDO 0 00 eect eee eeeteeeeeeaeees 180 Setting Digital Outputs Per PDO eee eeee ee eee ere ee oN NEEE 182 Digital Min Puts scn EEAO 184 Digital Inputs SDO ereccion E AEE EEE AEE EER 185 Digital Inputs PDO nscrcesicnnniinii inae E E EDERA EEEE OEE 187 H Brid GE sra 189 Configuring the H Bridge by Using SDO and PDO ssssssssssssrsssrrsseerrrsstirrssrtrnssrernssrenssrrnnsssnt 190 PWM Outputs uitiis aan aaraa aE a a a eaaa OENE E 192 Configuring the PWM Output 1 by Using SDO and PDO ssssseesiesesrsseerssesrrrssrerrssrerrssrenssee 193 Protection and Diagnostic Features JXM IO E02 195 Standard Feed Power Input STANDARD FEED cccecceeeeeeeseeeeeeeeeseaeeeeeeeeeeeeeseaeessaeeteaes 196 Safety Feed Power Input SAFETY FEED ccccceeecceeeeeeeeeeeeeeeeeeaeeesaeesseeeceeeeesnaeeseneeeeaes 197 Digital Outputs 1 8 Standard Outputs 00 eee eect eee eeeeeeeeeeneeeeeeeeeaeeeseaeeeeteeaeeeeeeaeees 198 Digital Outputs 9 16 Safety OUTPUTS eee c
6. The module will set the corresponding bit in the CANopen error register and will send the following error code Error Type Error Register Over current 0x2323 The controller must respond to the error message and disable the outputs on the module JXM IO E02 196 Jetter AG JCM 350 E03 Protection and Diagnostic Features JXM IO E02 Safety Feed Power Input SAFETY FEED Detecting the Error The input current on SAFETY 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 current 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 Root Cause of Error 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 Ifthe safety switch temperature rises too high and the actual current is at least 30 A Response of the Module The module responds to this error in the following levels to this Error Level Description 1 The module will send a CANopen
7. False wait until start flag set by user When WriteIt Continue open file in write mode If FileOpen Filel Test dat fWrite Then restart timer register MilliSec 0 write array data to file FileWrite Filel DataArray SizeOf DataArray capture time WriteTime MilliSec FileClose Filel show measured time Trace StrFormat Time d ms n WriteTime Else show error message Trace Unable to open file n End If End Loop End Task Jetter AG 177 9 Programming 9 3 Addressing the JXM IO E02 via CANopen Purpose of this Chapter JCM 350 E03 Configuration Contents 178 This chapter describes how to address the JXM IO E02 by means of JetSym STX The JCM 350 E03 consists of the controller JCM 350 and the I O module JXM IO E02 which are internally connected via CAN bus The CAN bus is brought out to allow communication with other CANopen nodes The default node ID of the JXM IO E02 is 16 the default node ID of the JCM 350 is 127 This way both components within the JCM 350 E03 can be addresses separately Topic Page Digital OUP acn iwi aii at dena ee 179 OTe 1b al elo Chereeereret terre terre creer re reer ere creee eererer rere ri ecreret ee crer mereeer ere 184 Fel BAG 6 iss soe cs Fase ca 4a agecte caged E O T 189 PWM OUDITS noiire ennan cece raaa EE AEAEE NaS EA EE eaea 192 Jetter AG JCM 350 E03 Programming 9 4 Digital
8. 101151 101164 101165 101200 101201 101202 101203 101232 101233 101251 101264 101265 Default gateway DNS server Host name suffix type Host name register string JetIP port number STX debugger port number Used by the system IP address Subnet mask Default gateway DNS server Host name suffix type Host name register string JetIP port number STX debugger port number General System Registers r 200000 OS version major 100 minor 310000 319999 File system data files 200001 Application program is running bit 0 1 200008 Error register identical with 210004 1000000 1005999 JCM 350 Application registers remanent Bit 1 Error on JX3 bus Int Float Bit 2 Error on JX2 bus Bit 8 Illegal jump z Bit 9 Illegal call General Overview Flags Bit 10 Illegal index 0 255 Application flags remanent Bit I Illegal opcode 256 2047 overlaid by registers 1000000 through Bit 12 Division by 0 1000055 Bit 13 Stack overflow 2048 2303 Special flags Bit 14 Stack underflow Bit 15 Illegal stack m Bit 16 Error when loading application program Electronic Data Sheet EDS Bit 24 Timeout cycle time _ Bit 25 Timeout task lock 100509 5 Interface 07 CPU Bit 31 Unknown error Identification 100600 Internal version number 100601 Module ID 200168 Bootloader version IP format 100602 Module name register string 200169 OS version IP format 100612 200170 Controller type 340 3
9. Do not use this device in potentially explosive atmospheres Hot surface hazard The JCM 350 E03 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 occurrence 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 gt Make sure that twisted pair cables are used for connecting the CAN interfaces 14 Jetter AG JCM 350 E03 Product Description and Design 2 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 Page Product Description JCM 350 E03 ccccccccccecesseeeeeseeeeeeeseeeseeeeeeeeeeseeees 16 Parts and Interface Suaia aea a EE AEEA 17 Order Reference Options cccccccseccececsceeesesneeeeessneeeeessneeeeesneeeesessieeeees 18 Physical Dimensions neecersaas i reste hededheeedese ET 19 Jetter AG 15 2 Product Description and Design Product Description JCM 350 E03 Controller JCM 350 E03 The controller JCM 350 has especial
10. Error Type Error Register Over temperature 0x4231 0x4232 Response of the Module to this Error 204 Jetter AG JCM 350 E03 Protection and Diagnostic Features JXM IO E02 5 V Reference Output Root Cause of Error This error may be caused by the following root causes The limit for over current has been exceeded A short circuit to ground has occurred Response of the Module The module responds to this error in the following levels The module will send a CANopen emergency object to the controller to this Error 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 Register Jetter AG 205 10 Protection and Diagnostic Features JXM IO E02 Generic Fault Detection Fault Description Detection of internal communcation errors Detection of parameter mismatch Response of the Module to this Error The module JXM IO E02 can also detect certain faults which are not directly linked to a specific input or output such as Internal Communication Failure Parameter Mismatch If the internal communications of the module JXM IO E02 fail 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 This fault indicates that the two copies of System Parameters stor
11. Frequency measurement range 5 Hz 20 kHz Result of measurement Period of the signal in nanoseconds 224 Jetter AG JCM 350 E03 Appendix Technical Data H Bridge Technical Data Regulated Output Protective and Diagnostic Functions Parameter Application Rated output current Accuracy of current measurement H bridge Short circuit proof Overcurrent detection No load detection Parameter Regulated voltage Load current Overcurrent detection Type of Fault Short circuit Overload No load cable breakage used as H Bridge as two independent digital inputs lt 100 mA Response The faulty function is disabled automatically A CANopen emergency object is sent to the controller The error message is stored to a history list which is compatible with the CANopen standard Jetter AG 225 Appendix Physical Dimensions Introduction This chapter details the physical dimensions of the JCM 350 E03 and the conditions for installation Physical Dimensions The diagram shows the dimensions of the JCM 350 E03 te 150 Space Required for The diagram shows the space required for the JCM 350 E03 54 ai 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 226 Jetter AG JCM 350 E03 Appendix Space Required to The diagram indicates the
12. 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 41 4 Mounting and Installation Calculating the Node ID The following table shows the effective node ID given that the default base ID Based on Tri State Input of 0x10 is used State Not Connected OFF on Net omecod ote oN Related Topics Specification CAN Bus Cable on page 43 42 Jetter AG JCM 350 E03 Mounting and Installation Specification CANopen Bus Cable Layout of CAN Bus Jetter AG CANopen devices are wired in accordance with the following Wiring diagram Number scription a 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 practically zero The CAN_L and CAN_H cables must be twisted together Jetter AG 43 4 Mounting and Installation CAN Bus Cable ae 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 max 70 Q km Specification 500 kBaud max 60 Q km 250 kBaud max 60 Q km 125 kBaud max 60 Q km Shield Complete shielding no paired shielding Twisting Core pairs CAN_L
13. O ampe eserption jo Version of this section Module code for JCM 350 2 JCM 350 Corresponds to the information on the nameplate The serial number and production date can be seen from the section PRODUCTION cramp eserion O 0 Meonartis sector 10080703010015 Corresponds to the information on the nameplate In the section FEATURES special properties of the controller are specified Properties which have no entries in the file are regarded as as non existing by the controller Name Example eserption MAC Adar 00 50 CB 00 05 FO Ethernet MAC address 1 STX Runtime environment for application program is available NVRegs 6000 Number of remanent registers EDS Registers on page 27 26 Jetter AG JCM 350 E03 EDS Registers Introduction Register Numbers EDS Registers of a Controller Identifying the Controller Entries in the Electronic Data Sheet EDS can be read by the controller via EDS registers The basic register number is dependent on the controller The register number is calculated by adding the number of the module register MR and the basic register number Controller Basic Register Number Register Numbers JCM 350 100000 100500 100817 The following table lists the EDS registers of a controller as well as their connection to the entries in the EDS file System eds ini As there is only one register set the required module has to be selected via module reg
14. eccceceeeseeeeeeeeceeeeeseeeeeeeees 124 Object System Parameters Index 0X4556 ce ececee scence eeeeeeeeeeeeeeeeeeseeeaeeeseneaeeeeeaaeeetenaaees 125 Detailed Software Version Object Index OX4559 22 ecceceeceeeeeeeeeeeceeeeseaeseseeeseaeeeseaeeseeeneaees 133 User EEPROM Access Object Index Ox5000 00 0 cece eeetee erties ee teeeeeteeeeeteeeesaeeeee 134 CANopen PDO Specification cccssccccessseceeeseseceeeeneeeeenenseeeseesseeeesesseaeeeseseeeeeseseeeeeeseaeees 136 TX PDO Allocation on the JXM IO EO2 cecccceeecceceececeneeeeeeeeeeeeesaeeesaaeeeaeeseeeeeeseaeeeeneeeeeeeees 137 RX PDO Allocation on the IXM IO E02 ccecceeecceceeeeeeceeeeeeeeceeeeseaeeecaaeseaeeseceeessaeeseeeeeaees 138 SAE J1939 STX API 139 Content of a J1939 Message aoaiina i a EAE TEER EEEE AA 140 STX FUNCtION SALES TO SOI Mita ciciecacserensecctancaaeenvetagedisscacess iaiia EEEn AERE EAER 142 STX Function SAEJ1939SetSA oo cece ccc ee ence cecceeceeeeeeeae scence seaeeeceaeesaaeesseneesseeesaeeseaaeeseneeeees 143 STX Function SAEJ1939GeCtSA Lee cece cece eeece cence eceeeeeeaaeeceaeesseeeseaeeeaaeesseneeseeneesaeeseaeeeseneeeaes 144 STX Function SAEJTI939AdGRX whistle anean itil a dle leads 145 SIX Function SAEJI939Ad01X cc tite ote aladdin nnn eA delenit 148 STX Function SAEJ1939RequestPGN cccccceeeceeeceeeeeeeeeeeeecaaeeeeeeeeesecaeaeeeeeeeeeeseesncneeeees 152 STX Function SAEJ1939GetDM1 0 0 eee ee ceeeceeee ce
15. ee End Task 94 Jetter AG JCM 350 E03 CANopen Objects 7 CANopen Objects Introduction This chapter covers the CANopen objects implemented on the JCM 350 E03 and their functions as well as the permanently mapped process data objects PDO JCM 350 E03 The JCM 350 E03 consists of the controller JCM 350 and the I O module Configuration JXM IO E02 which are internally connected via CAN bus The CAN bus is brought out to allow communication with other CANopen nodes The default node ID of the JXM IO E02 is 16 the default node ID of the JCM 350 is 127 This way both components within the JCM 350 E03 can be addresses separately 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 transmit
16. expedited up to 4 data bytes Function Declaration Function CanOpenDownloadSDO CANNo Int NodeID Int wIndex Word SubIndex Byte DataType Int DataLength Int const ref DataAddr ref Busy Int y 2int Function Parameters The CanOpenDownloadSDO function has the following parameters CANNo CAN channel number 0 CANMAX NodelD Node ID of the message 1 127 recipient Index number of the object 0 OxFFFF SublIndex Sub index number of the object 0 255 DataType Type of object to be sent DataLength Volume of data for the global variable DataAddr DataAddr Global variable into which the sent value is to be entered Return Value The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters 2 HMI in Stop status own heartbeat status 3 DataType is greater than DataLength 4 insufficient memory 78 Jetter AG JCM 350 E03 Parameter CANNo Parameter DataType Busy CANopen STX API The value of the CANMAX parameter depends on the device The following table provides information on this point BTM 012 BTM 011 JCM 350 JCM 620 The following data types can be received Byte types CANopen format Jetter format 1 CANOPEN_INTEGER8 Byte CANOPEN_UNSIGNED8 2 CANOPEN_INTEGER16 Word CANOPEN_UNSIGNED16 3 CANOPEN_INTEGER24 CANOPEN_UNSIGNED24 CANOPEN_INTEGER32 Int CANOPEN_UNSIGNED32 CANOPEN_REAL 5
17. 0 0 ecceeceeteeteeeeeees 190 Jetter AG 189 9 Programming Configuring the H Bridge by Using SDO and PDO Task A PWM signal with a static duty cycle is to be output at the H bridge outputs Solution First SDO is used to access the object H bridge and to select the operating mode Then a PWM signal with a static duty cycle is output by means of PDO Prerequisites Initial commissioning of JCM 350 E03 has been completed This means Installation of the device is completed The device is connected via USB CAN adaptor to the PC In JetSym an active connection to the JCM 350 E03 exists How it Works The program has two main functions The program first accesses the object H Bridge with index 0x2500 and sub index 2 by means of the CANopen STX API function CanOpenDownloadSDO The value 0x02 is entered into sub Index 2 to select the output mode In this mode the output connected to pin 69 is a PWM controlled active high output whereas the output connected to pin 70 is always low Then the CANopen STX API function CanOpenAddPDOTx is used to set the PWM duty cycle of the H bridge to 150 Please note that the I O module JXM IO E02 receives process data on the CAN bus only on request This is achieved by the parameter CANopen_ASYNCPDORTRONLY Following this the JXM IO E02 is set into the state operational Now the JXM IO E02 receives the data in question and sets the PWM duty cycle as requested JetSym
18. 1 of Node 1 1000 10 CANOPEN ASYNCPDO CANOPEN NORTR 86 Jetter AG JCM 350 E03 JetSym STX Program CANopen STX API JCM 350 E03 with node ID 10 wants to receive a PDO from two CANopen devices with node ID 64 and 102 The function CanOpenAddPDORx is called up for this purpose After running the program the JCM 350 E03 receives the cyclic PDO telegrams NodelID_Node_0 NodelD_Node_2 NodelD_Node_1 3 x JVM 407 JXM IO E02 JXM IO E09 CAN 0 120 Ohm 120 Ohm CAN Bus Include CanOpen stxp Const CAN no CAN CONTROLLER 0 0 Node ID Node 1 NodeID Node_0 10 Node ID Node 2 NodeID Node_1 64 Node ID Node 3 NodeID Node 2 102 Event_Time in ms Event Time 1000 Inhibit time in ms Inhibit Time 10 End Const Var Data_l_of Node _1 Int Data_2 of Node 1 Int Data_1_ of Node 2 Int End Var Task main autorun Var SW_ Version String End Var Jetter AG 87 6 CANopen STX API SW_Version Initialization CAN 0 CanOpenInit CAN CONTROLLER 0 NodeID Node 0 ard 3 01 2004 gt r Enter process data on receipt CanOpenAddPDORx CAN CONTROLLER 0 CANOPEN PDO2 RX NodeID Node_1 0 CANOPEN DWORD sizeof Data_1 of Node 1 Data_1_of Node 1 Event Time Inhibit Time CANOPEN ASYNCPDORTRONLY CANOPEN
19. 203114 96 111 203115 112 127 203116 128 143 203117 144 159 203118 160 175 203119 176 191 203120 192 207 203121 208 223 203122 224 239 203123 240 255 32 Combined Special Flags 203124 2048 2079 203125 2080 2111 203126 2112 2143 203127 2144 2175 203128 2176 2207 203129 2208 2239 203130 2240 2271 203131 2272 2303 16 Combined Special Flags 203132 2048 2063 203133 2064 2079 203134 2080 2095 203135 2096 2111 203136 2112 2127 203137 2128 2143 203138 2144 2159 203139 2160 2175 203140 2176 2191 203141 2192 2207 203142 2208 2223 203143 2224 2239 203144 2240 2255 203145 2256 2271 203146 2272 2287 203147 2288 2303 Overlaid Application Registers Flags 1000000 256 287 1000001 288 319 1000002 320 351 216 Jetter AG JCM 350 E03 1000003 1000004 1000005 1000006 1000007 1000008 1000009 1000010 1000011 1000012 1000013 1000014 1000015 1000016 1000017 1000018 1000019 1000020 1000021 1000022 1000023 1000024 1000025 1000026 1000027 1000028 1000029 1000030 1000031 1000032 1000033 1000034 1000035 1000036 1000037 1000038 1000039 1000040 1000041 1000042 1000043 1000044 1000045 1000046 1000047 1000048 1000049 1000050 1000051 1000052 1000053 1000054 1000055 352 384 416 448 480 512 544 576 608 640
20. 350 E03 ccccceeeceeseeeeeeeeeeeaeeeeeeeceeeeseaeeeeaeeecaeeeeeaeeesaeeseaeeseeeeesaeeesseeeseeeees 54 5 Initial Commissioning 59 Preparatory Work for Initial COMMISSIONING cceeeeeteeteeettee ee erent ee ee tees erties ee taaeeeeetieeeerena 60 Initial Commissioning in JEtSyYM screener irona aAA ETE 62 Information on Communication with a JXM IO E02 cc eeceeeeeeeeeeeeeeeneeeeeeneeeeeeneeeetsaeeeeeeeaaes 67 6 CANopen STX API 69 STX Function CanOpen nit cece ccccccccceceeceecceeceeeeeeeeecenaeceeeeeeeecaeaaeeeeeeeeeseccaaeeeeeeeseencaeeaeeeeeess 70 STX Function CanOpenSetCommang ccccccccceeeeeeecceeceeeeeeesecsecaeceeeeeeeseaecaeeeeeeesessnsiaeeeeees 72 STX Function CanOpenUploadSDO 200 0 2c ce ceeececcccceeeeeee eee eeceeeeeeeeeteaaaeaeeeeeesecsecgaeaeeeeeeesetsenieaees 74 Jetter AG 7 Contents 7 1 7 2 7 3 9 1 9 2 STX Function CanOpenDownloadSDO ccccccceeececceeeeeeeeeceeeae cece eeeesececeaeeeeeeesesecsiaeeseeeeees 78 SIX Function CanOpenAddPDORsX 2 cccceeeeeeneeee cee eeeeeeseeeaeaeeeeeeeeedenaeeeeeeeeeesedencieeeeeeeeeeees 83 STX Function CanOpenAddPDOT c ccccceceeeeeeeaeceeeeeeesecencaeceeeeeeesesaecaeeeeeeesesecnisaeeeeeeeeeea 89 CANopen Objects 95 CANopen Object Dictionary for JCM 350 E03 cccssscesseeceeeeeeseeeeeneeeeseeeseneeeesesnseeeeseeness 96 Supported CANopen SDO Objects cccccccceeceeecee cee
21. A A a aa eee 25 EDS Register Socceriin ECEE EERE 27 3 3 Version REGISCCIS esisi SAANS 29 Hardware REVISIONS sonenssanipe neuian ENEE EA FAEERE aa E A E araa E 30 SoftWare VEFSIONS orasini Aa EE eE a EAE T ANN E 31 3 4 Identifying a JXM IO E02 via CAN BUS ccccceeseneeeeeeeneeeeeeeneeeeseeneeeeseeneeenseneeeasneeneeeaseeneeennes 33 Electronic Data Sheet EDS and Software Version cccsccscccceeeeeeeeeeseeeeeeeeeseeeesseeeeiseeeanees 34 4 Mounting and Installation 35 4 1 WUMING ites ccczicecsaceccevaceeceacencetedsccdescasscecgcuaceecesadeesceedsccd es euccedcetuacceseuaccdsdeeaaseeessaaaddceedancectaacedeaeenseed 36 Wining PrinCiple iepenen E ntvscee nin TAAA EE AA etnies 37 Example of Wiring Layouts nesssmeniiesiii ei aA A AETA T RRA 38 Connecting the Power Supply and the 5 V Output 0 ccccceceeececceceeeeeeeesecencaeeeeeeesetenneeeeeeeees 39 CAN Interface and Node ID imneinisiiniineaaa a a A a a a 41 Specification CANopen Bus Cablle ecccceccccceeeeececeeneceeeeeeeeeeecaaeaeeeeeeseccqenueeeeeeeensesennieaeees 43 Connecting Digital Inputs and Outputs scssi cece ee eeeeeee ee eeeeee eee eeeeeeseeeeeeseeeeaeeeteeaeeeeeeaaeees 45 Connecting Analog Inputs and Outputs 20 0 eee cece eeeeeeee ee eeeeeeeeteeeaeeeseeeaeeseeeeaeeeseeaeeeeeeeaeees 50 4 2 Installing the JCM 350 E03 soi cccccsccccsccecvsssenaseececcecescbecncetscgaccssectuaceesuszsesseiecesedisaseateesecateeteasnaeets 53 Installing the JCM
22. API STX Function SAEJ1939GetDM1 Introduction Calling up the function SAEJ1939GetDM1 requests the current diagnostics error codes also see SAE J1939 73 No 5 7 1 The corresponding PGN number is 65226 This function must be constantly recalled in cycles Function Declaration Function SAEJ1939GetDM1 CANNo Int bySA Byte ref stJ1939DM1stat TJ1939DM1STAT ref stJ1939DM1msg TJ1939DM1MSG J SENG Function Parameters The function SAEJ1939GetDM1 has the following parameters CANNo CAN channel number 1 CANMAX Source Address of message 0 253 sender The own SA cannot be used stJ1939DM stat IStatus Lamp Status IMsgCnt Number of received messages Size of variable stJ1939DM1msg stJ1939DM1msg Error Code Error counter Error Type Return Value The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters Parameter CANNo The value of the CANMAX parameter depends on the device The following table provides information on this point ee Jetter AG 155 8 SAE J1939 STX API stJ1939DM stat IStatus stJ1939DM1msg Using this Function Default OxFFOO Status Malfunction Indicator Lamp Status 6 5 Red Stop Lamp Status 43 Amber Warning Lamp Status P 2a Protect Lamp Status Flash Flash Malfunction Indicator Lamp 6 5 _ Flash Red Stop Lamp a Flash Amber Warning Lamp f 2a Flash Protect Lamp
23. CANOPEN_INTEGER40 CANOPEN_UNSIGNED40 CANOPEN_INTEGER48 CANOPEN_UNSIGNED48 CANOPEN_TIME_OF_DAY CANOPEN_TIME_DIFFERENCE CANOPEN_INTEGERS6 CANOPEN_UNSIGNED46 sure sen na CANOPEN_UNSIGNED64 CANOPEN_REAL64 CANOPEN_VISIBLE_STRING CANOPEN_OCTET_STRING CANOPEN_UNICODE_STRING CANOPEN_DOMAIN After calling up the function the Busy parameter is set to SDOACCESS_INUSE With an error in transmission Busy is set to SDOACCESS_ERROR With a successful transmission the number of bytes transmitted is returned Jetter AG 79 6 CANopen STX API Busy Error Codes Macro Definitions Using this Function 80 With an error in transmission Busy returns an error code The following error codes are available SDOACCESS_STILLUSED Another task is communicating with the same node ID SDOACCESS_TIMEOUT The task has been timed out because the device with the node ID is not responding If the specified node ID does not respond within 1 second the timeout code is set SDOACCESS_ILLCMD The response to the request is invalid SDOACCESS_ ABORT The device with the node ID was aborted SDOACCESS BLKSIZEINV Communication error with Block Download SDOACCESS SYSERROR General internal error The following macros have been defined in connection with this function SDOACCESS FINISHED busy This macro checks whether communication has finished SDOACCESS_ERROR busy This macro checks whether an error has occurred Resu
24. CANopen STX API binary decimal hexadecimal eoo000000000 o Nr Management XXXXXXXX Node number 1 127 The following data types can be received Byte types CANopen format Jetter format 1 CANOPEN_INTEGER8 CANOPEN_UNSIGNED8 2 CANOPEN_INTEGER16 CANOPEN_UNSIGNED16 3 CANOPEN_INTEGER24 CANOPEN_UNSIGNED24 4 CANOPEN_INTEGER32 CANOPEN_UNSIGNED32 CANOPEN_REAL 5 CANOPEN_INTEGER40 CANOPEN_UNSIGNED40 CANOPEN_INTEGER48 CANOPEN_UNSIGNED48 CANOPEN_TIME_OF_DAY CANOPEN_TIME_DIFFERENCE 7 CANOPEN_INTEGERS56 CANOPEN_UNSIGNED46 Jetter AG 85 6 CANopen STX API Parameter Paramset Using this Function Byte types CANopen format Jetter format 1 CANOPEN_INTEGER8 Byte CANOPEN_UNSIGNED8 CANOPEN_INTEGER64 CANOPEN_UNSIGNED64 CANOPEN_REAL64 CANOPEN_VISIBLE_STRING CANOPEN_OCTET_STRING CANOPEN_UNICODE_STRING CANOPEN_DOMAIN The following parameters can be transferred to the function Several parameters can be linked together using the Or function CANOPEN_ASYNCPDORTRONLY Receive asynchronous PDOs by sending an RTR frame after expired EventTime to the sender CANOPEN_ASYNCPDO Receive asynchronous PDOs CANOPEN_PDOINVALID PDO not received Disk space is reserved CANOPEN_NORTR PDO cannot be requested by RTR Remote Request CANOPEN_29BIT Use 29 bit identifier Default 11 bit identifier Result CanOpenAddPDORx 0 662 0 CANOPEN DWORD sizeof var Data 1 of Node 1 var Data
25. Changing the Default The node ID is stored in the internal EEPROM and is read during the boot Node ID 0x10 process For special applications it is possible to change the value stored in the EEPROM by using the object System Parameters index 0x4556 sub index 4 108 Jetter AG JCM 350 E03 CANopen Objects Switch Feed Output Object Index 0x2103 Switch Feed Outputs Index 0x2103 Sub Index 5 Sub Index 6 Jetter AG The structure of the object Switch Feed Output is shown in the following table This object is for enabling or disabling the two switch feed outputs 0x2108 0 Number of entries Oo b Not used Not used o 5 Process value 1 rw read amp Output state write Parameter 0 Number ro of Outputs The function of sub index 5 is described below Ooo bB a O 4 Process value 0 Unused a Write to Sub Index 5 to set the output state enable disable of each channel Sub index 5 uses the one bit per channel data structure described below Bit 0 Switch feed output 1 Bit 1 Switch feed output 2 For each channel the following values can be entered 0 Disable the switch feed output 1 Enable the active high switch feed output Sub index 6 can be read to obtain the number of available switch feed outputs 109 7 CANopen Objects Analog Input Objects Index 0x2200 through 0x2203 Analog Input Index The structure of the objects Analog Input is shown in the following tabl
26. Initializing CAN 0 T CanOpenInit CAN_CONTROLLER_0 NodeID Node 0 SW Version Entering process data to be sent CanOpenAddPDORx CAN CONTROLLER 0 CANOPEN _PDO1_RX NodeID Node 1 2 CANOPEN WORD sizeof Data Inputs Data Inputs Event Time Inhibit Time CANOPEN_ASYNCPDORTRONLY _ 7 p All devices on the CAN bus have the status of PREOPERATIONAL Setting all devices on the CAN bus to OPERATIONAL status CanOpenSetCommand CAN CONTROLLER 0 CAN CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN NMT START ee End Task CANopen Objects on page 95 68 Jetter AG JCM 350 E03 CANopen STX API 6 CANopen STX API Introduction The CANopen Standard Application Documentation Contents Jetter AG This chapter describes the STX functions of the CANopen STX API CANopen is an open standard for networking and communication in the automobile sector for example 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 These STX functions are used in communication between the controller JCM 350 E03 and e g the peripheral modules JXM IO E02 JXM IO E09 JXM IO E10 JXM IO E11 and JXM MUX The CANopen specifications can be obtained from the CiA e V http www can cia org homepage The key specification documents are a CiADS 301 This doc
27. Output mode sub index 9 is used to set the Proportional parameters 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 The function of sub index 10 is described below In Current Controlled PWM Output mode sub index 10 is used to set the Integrator parameters 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 Jetter AG 117 7 CANopen Objects Current Control Calculating the PWM Pulse Control Factor Sub Index 11 In Current Controlled PWM Output mode the PWM duty cycle is controlled using the above three parameters in the following formula Pr emul Currentdemand Pr Omut Error Intmut PWMbutycycie 4 Pr ediv Pr Odiv Intdiv IntegratedError Where Premu and Pregiy are the Predictor multiplication and division factors sub index 8 m 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 m Currentpemang is the user input in
28. Outputs Introduction This chapter describes how to address digital outputs by using PDO and SDO Contents Topic Page Reading In the Number of Available Digital Outputs Per SDO 180 Setting Digital Outputs Per PDO 0 ccceesceeeeeceeeeeeeeeeeeeeeseaeeetneeeeeeeees 182 Jetter AG 179 9 Programming Reading In the Number of Available Digital Outputs Per SDO Task Solution Prerequisites How it Works JetSym STX Program Read in the number of available digital outputs on the JXM IO E02 SDO is used to access the object Universal I O in the object dicitionary and to obtain its value Initial commissioning of JCM 350 E03 has been completed This means Installation of the device is completed The device is connected via USB CAN adaptor to the PC In JetSym an active connection to the JCM 350 E03 exists The program accesses the object Universal I O with index 0x2101 and sub index 6 on the JXM IO E02 by means of the CANopen STX API function CanOpenUploadSDO and reads out its value This value is stored to the variable Data_Outputs The content of this variable can be displayed in the JetSym setup pane 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 End Const Var SW Version String busy int Data_ Outputs Long Objectindex Long Subindex Byte End Var Task Main Autoru
29. STX Program Const CAN CONTROLLER_0O 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 busy Int SW _ Version String HBridge Mode Long PWM Value Long Objectindex Word Subindex Byte End Var 190 Jetter AG JCM 350 E03 Programming Jetter AG Task Main Autorun Software version of the controller SW Version v4 3 0 Mode HBridge Mode 0x02 Init PWM PWM Value 150 Initializing CAN 0 CanOpenInit CAN CONTROLLER 0 NodeID Node 0 SW Version SDO Objectindex 0x2500 Subindex 2 Mode CanOpenDownloadSDO CAN CONTROLLER 0 NodeID Node 1 Objectindex Subindex CANOPEN DWORD sizeof HBridge Mode HBridge Mode busy PWM Value CanOpenAddPDOTx CAN _ CONTROLLER 0 CANOPEN PDO2 TX NodeID Node_1 0 CANOPEN WORD sizeof PWM Value PWM Value Event Time Inhibit Time CANOPEN ASYNCPDORTRONLY All devices on the CAN bus have the status of PREOPERATIONAL Setting all devices on the CAN bus to OPERATIONAL status CanOpenSetCommand CAN CONTROLLER 0 CAN CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN NMT START a End Task 191 9 Programming 9 7 PWM Outputs Introduction This chapter describes how the PWM output 1 is configured by means of SDO and how a PWM signal with a static duty cycle
30. Using this Function Result SAEJ1939AddTx 1 OxFEEE 0x00 2 0 SAEJ1939 BYTE sizeof var Fueltemp var_Fueltemp struct_TJ1939Tx EngineTemperatureTbl 1500 120 JetSym STX Program Redefining the priority Priority value 0 has the highest priority priority value 7 has the lowest priority A message with priority 6 can be superseded by a message with priority 4 if the messages are sent at the same time The parameters InhibitTime and EventTime are not explicitly specified when calling up the function In this case the default values are used Include SAEJ1939 stxp Var bySAEJ1939Channel Byte own Source Address Byte PGN 65262 Engine Temperature 1 Fueltemp Byte EngineTemperatureTbl TJ1939Tx End Var Task main autorun Initializing CAN 1 bySAEJ1939Channel 1 own Source Address 20 SAEJ1939Init bySAEJ1939Channel own Source Address PGN 65262 Engine Temperature Set a new priority EngineTemperatureTbl byPriority 6 SAEJ1939AddTx bySAEJ1939Channel 65262 0x00 2 1 SAEJ1939 BYTE sizeof Fueltemp Fueltemp EngineTemperatureTbl1l End Task 150 Jetter AG JCM 350 E03 SAE J1939 STX API Engine Manufacturer s For information on the data priority PGN SA and data byte structure refer to Manual the manual provided by the engine manufacturer Jetter AG 151 8 SAE J1939 STX API STX Function SAEJ1939RequestPGN Introduction Calling up the f
31. compliant Interference immunity to compliant Directive 72 245 EEC conducted faults with all changes up to 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 30 V m with all changes up to 2009 19 EC Load Dump Impulse 5b 70 V ISO 7637 2 Jetter AG 229 Index B Index A Application Program Default Path 223 Loading an Application Program 222 C CANopen Objects 101 CANopen STX API 73 Components of JXM IO E02 17 Connector Specification 39 D Diagnostic Features 205 Disposal 12 E EDS 24 130 EEPROM 140 Example of Wiring Layout 40 Identification via Version Register 30 Initial Commissioning 61 Installation 56 Intended Conditions of Use 12 Interfaces Analog I Os 52 CAN 43 Controlled Output 5 volts 41 Digital Inputs and Outputs 47 Frequency Inputs 52 H Bridge 52 Power Supply 41 Switch Feed Outputs 47 J JXM IO E02 Description of Errors 205 JXM IO E02 Troubleshooting 205 Maintenance 12 Memory Overview 175 Memory Types 175 Modifications 12 N Name Plate 23 O Operating Parameters EMC 239 Environment and Mechanics 238 Operating System Update 130 219 Order Reference JCM 350 E03 18 P PDO Specification 142 Personnel Qualification 12 Physical Dimensions 19 Product Description JCM 350 E03 16 Programmin
32. eeeeeeeeeeeeaeceeeeeeaceneeeeeeeeeeeseceneineeeeeeeeeees 97 CANopen Object Dictionary for JXM IO E02 ccccccsscssseeeeeeeeeseeeeeneeeeeeeeeeneeeeseeesneeeneeeeess 99 Objects Ranging from Index 0x1000 through 0X2000 eesssssssssseerranssnsseeennannsnnnaeennaanannnneenaana 101 Digital Inputs Object Index 0x2100 ascorn aA E AAA 103 Universal VO Object Index Ox2101 ca cinstateiaudacieeeuenteoaintieleinnden tinned AS 105 Tri State Inputs Object Index 0X2102 oe eee reenter ee eater iN AEA AE 107 Switch Feed Output Object Index 0X2103 sueros sinian aaa ANRA ARRA 109 Analog Input Objects Index 0x2200 through 0X2203 cece eeeeeeee cette eee eeeeaeeeeeeaeeeeeenaeeeeeaas 110 Voltage Sense Analog Input Object Index 0X2210 eee ee eeee ee eete eee eeeteee settee eeenaeeeeeaees 112 Feed Currents Object Index 0X2211 0 eeccceccceceeeceeceeeeeeeeeaeeeeaeeceeeeesaaeeesaaeeseaeeseeeeeseeeessaeesenees 113 Analog Output Object Index Ox2300 eccccecceeeseecence cece eeeeaeeeeeeeceeeeseaeesaeeeceeeeseeeeseaeeneeeees 114 Objects PWM Output Index 0x2400 through 0X2402 eee eeteeeee tees eee eeneeeeetteeeeetnaeeeee 116 H Bridge Object Index OX2500 c ccceccceceeececeeceeeeeeceaeeeseaeeeeaeeeceeesaeeeeeaaeseneeeseaeeesiaeenseeeenees 120 Frequency Input Objects Index 0x2600 through Ox2601 ccecccceeeeeeeeeeeeeeseeeeseeeeeeeeeaees 122 OS Update Index 0x4554 and EDS Objects Index 0X4555
33. 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 Over current 0x2322 2 Safety Switch Failure 0x5001 8 If the switch fails in the ON state the JCM 350 E03 will additionally issue the Safety Switch Failure notification Jetter AG 197 10 Protection and Diagnostic Features JXM IO E02 Digital Outputs 1 Detecting the Error Root Cause of Error Response of the Module to this Error 198 8 Standard 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 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 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 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 Th
34. fault has been detected Sub Index 4 The function of sub index 4 is described below Sub index 4 is used to enter the analog output voltage With mode 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 a value larger than this maximum is specified the output will clip The analog output s maximum output voltage will always be slightly less than STANDARD FEED voltage 114 Jetter AG JCM 350 E03 CANopen Objects Sub index 4 can be read to obtain the recently measured output voltage in mV units Sub Index 5 The function of sub index 5 is described below Sub index 5 is used to set the analog output current With mode Constant output current enabled the value specifies the output current in 10 pA units With mode Constant output voltage ratiometric 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 analog outputs maximum output voltage will always be slightly less than STANDARD FEED voltage Sub index 5 can be read to obtain the recently measured output current in 10 pA units
35. information in the title bar of each setup window Jetter AG 31 3 Identifying the Controller Related Topics Hardware Revisions on page 30 32 Jetter AG JCM 350 E03 Identifying the Controller 3 4 Identifying a JXM IO E02 via CAN Bus Introduction The module JXM IO E02 features an Electronic Data Sheet EDS Numerous production relevant data are permanently stored in the EDS EDS data can be read via CAN bus Inhalt Topic Page Electronic Data Sheet EDS and Software Version 34 Jetter AG 33 3 Identifying the Controller Electronic Data Sheet EDS and Software Version Communication with JXM IO E02 Electronic Data Sheet EDS JXM IO E02 Software Version Useful Documents Related Topics 34 Communication with the JXM IO E02 module takes place via CAN bus As protocol the CANopen standard is used 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 module Data contained in the EDS are production specific and are relevant for support purposes If required the data can be read using the object Electronic Data Sheet 0x4555 Use the object Detailed Software Version 0x4559 to read out the version of th
36. isis ies hess pede statues tierce nie tet N 173 Jetter AG 165 9 Programming File System Memory Introduction The file system memory is for storing data and program files Properties Internal flash disk a Non volatile Slow access milliseconds up to seconds Limited number of write delete cycles approx 1 million Internal flash disk size 4 MBytes Memory Access By operating system By JetSym By means of file commands from within the application program 166 Jetter AG JCM 350 E03 Programming Operating System Memory Introduction The OS is stored to a non volatile flash memory in the CPU Therefore the OS can be executed immediately after the JCM 350 E03 is powered up Features Internal flash memory for storing the OS a Internal volatile RAM for storing OS data Memory Access The user is not allowed to directly access the OS memory Changes to the OS can be made by means of an OS update Related Topics Updating the Operating System on page 209 Jetter AG 167 9 Programming Application Program Memory Introduction By default the application program is uploaded from JetSym to the controller and is stored to it Properties Stored as file within the file system Default directory app Files may also be stored to other directories or on SD card Size 256 KByte max Memory Access By operating system By JetSym By means of file commands from within the application prog
37. of the controller SW Version v4 3 0 Initializing CAN 0 CanOpenInit CAN CONTROLLER 0 NodeID Node _0 SW Version Entering process data to be sent Jetter AG 187 9 Programming Setup Pane 188 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 devices on the CAN bus have the status of PREOPERATIONAL Setting all devices on the CAN bus to OPERATIONAL status CanOpenSetCommand CAN CONTROLLER_0 CAN CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN _NMT START End Task If the variable Data_Inputs has been selected in the JetSym setup pane its content is displayed as shown below The value of this variable depends on the state of the digital inputs and on their configuration active high or active low In the given case input 1 has been configured as active high and the other four inputs as active low These inputs are not connected Data_Inputs 0b00000000000000000000001010101001 int yv CPU 2 JCM350_BAsbp 4 JCM350_BA stxs x Jetter AG JCM 350 E03 Programming 9 6 H Bridge Introduction This chapter describes how the H bridge is configured by means of SDO and how a PWM signal with a static duty cycle is output by using PDO Contents Topic Page Configuring the H Bridge by Using SDO and PDO 1
38. 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 in the vicinity of the fuel tank in the vicinity of the fuel pipe a in the vicinity of flammable vehicle components in the vicinity of thermally malleable vehicle components 20 Jetter AG JCM 350 E03 Identifying the Controller 3 Identifying the Controller Purpose of this Chapter Prerequisites Information for Hotline Requests Contents Jetter AG This chapter is for supporting you in identifying the following information with regard to JCM 350 E03 Hardware revision Electronic data sheet EDS Numerous production relevant data are permanently stored in the EDS Identifying the OS Release of the Controller and Software Components To be able to identify the JCM 350 E03 controller the following prerequisites have to be fulfilled The controller is connected to a PC The programming tool JetSym 4 3 or higher is installed on the PC If you have to contact the hotline of Jetter AG in case of a problem please have the following information on the JCM 350 E03 controller ready Serial number OS version number of the controller Hardware revision Topic Page Identification by Means of the Nameplate ccccccesceeeeeeeeseteeeeneeeeeees 22 Electronic Data Sheet EDS 20 0 ececeeeeeeeeeeneeeeeeeee
39. read only object returns as process value the measured state of the three power feeds Index Subindex Detaut Description Anribuies oezo o e Naber ofertas oqeadony eo e bp me Y D a C C a 4 Process value 0 Standard Feed Voltage mV 5 Process value 1 Ignition Feed Voltage mV Process value 2 ro Safety Feed ON OFF Sub Index 4 The function of sub index 4 is described below Sub index 4 reports the measured voltage of STANDARD FEED in millivolts Sub Index 5 The function of sub index 5 is described below Sub index 5 reports the measured voltage of IGNITION FEED in millivolts Sub Index 6 The function of sub index 6 is described below Sub Index 6 will simply report whether the SAFETY FEED after the safety switch relay is enabled or disabled 0 SAFETY FEED disabled 1 SAFETY FEED enabled This object does not have an analog measurement 112 Jetter AG JCM 350 E03 CANopen Objects Feed Currents Object Index 0x2211 Feed Currents The structure of the object Feed Currents is shown in the following table Index 0x2211 This read only object provides the latest measurements of the Standard Feed and Safety Feed currents Description Attributes Number of entries ro read only STANDARD FEED ro current measurement SAFETY FEED current ro measurement Sub Index 1 The function of sub index 1 is described below Sub index 1 reports the measured current of STAN
40. safety distances to protect against overheating Protect Against Overheating la all Please note The JCM 350 E03 increases the temperature of the environment as a result of heat emission under load The JCM 350 E03 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 in the vicinity of the fuel tank in the vicinity of the fuel pipe a in the vicinity of flammable vehicle components in the vicinity of thermally malleable vehicle components Jetter AG 227 Appendix Operating Parameters Environment and Mechanics Environment Mechanical Parameters Operating temperature range 40 85 C fd Storage temperature range 40 85 C DIN EN 61131 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 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 DIN EN 60529 including all changes to date 228 Jetter AG JCM 350 E03 Appendix Operating Parameters EMC EMC Emitted As per Directive 72 245 EEC with all amendments up to 2009 19 EC checked Interference and
41. the System Parameters object is the only way to make these changes permanently Index Sub index Defaut Description Attributes 0x4556 a Number of entries ro So only CAN Termination rw oe amp write CAN Baud rate 0 125 kBaud 1 250 kBaud 2 500 kBaud 3 1 MBaud 1 000 CANopen Heartbeat time ee 6 0x016 PWM 1 Predictor PWM 1 Predictor parameter rw rw 0x0302 PWM 1 Proportional parameter 0x0101 PWM 1 Integrator a ee 9 Ox0AI6 PWM 2 Predictor PWM 2 Predictor parameter rw rw 0x0302 PWM 2 Proportional parameter 0x0101 PWM 2 Integrator a 1200 Ox0A16 PWM 3 Predictor parameter w rw t 0x0302 PWM 3 Proportional parameter 0x0101 PWM 3 Integrator parameter Analog input 1 Mode selection 16 Analog input 2 Mode rw selection 17 Analog input 3 Mode rw selection 18 Analog input 4 Mode rw selection 125 7 CANopen Objects Description oa Digital output 1 STANDARD Current limit N Digital output 2 STANDARD Current limit Digital output 3 STANDARD Current limit Digital output 4 STANDARD Current limit Digital output 5 STANDARD Current limit Digital output 6 STANDARD Current limit A w ol oa o N Digital output 7 STANDARD Current limit Digital output 8 STANDARD Current limit Digital output 9 SAFETY Current limit O N J rw Digital output 10 SAFETY Current limi
42. will send the following error code Error Type Error Register Short to GND 0x9021 No load cable breakage 0x2331 202 Jetter AG JCM 350 E03 Protection and Diagnostic Features JXM IO E02 Switch Feed Outputs 1 2 Detecting the Error Root Cause of Error Response of the Module to this Error Although the fault condition is over temperature 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 This error may be caused by the following root causes The programmed limit for over current has been exceeded A short circuit to ground has occurred The module responds to this error in the following levels pa 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 Register Over temperature 0x4231 0x4232 Jetter AG 203 10 Protection and Diagnostic Features JXM IO E02 Safety Switch Relay Root Cause of Error This error may be caused by the following root cause The safety switch relay fails to disable the safety outputs The module will set the corresponding bit in the CANopen error register and will send the following error code to the controller
43. 2 Page 112 Feed Currents ARRAY Unsigned32 Page 113 Analog Output ARRAY Unsigned32 Page 114 PWM Output ARRAY Unsigned32 Page 116 2500 H Bridge ARRAY Unsigned32 Page 120 2600 Frequency Input ARRAY Unsigned32 Page 122 2601 4556 System Parameters 1000 001 C moa Ka 20 20 2200 2400 Jetter AG 99 7 CANopen Objects Contents Topic Page Objects Ranging from Index 0x1000 through 0x2000 ceeeee 101 Digital Inputs Object Index 0X2100 eeeeeececeeeeeeeeeeeeteeteeeeeseeeeeneeeeenees 103 Universal I O Object Index 0X2101 eecceeecceceeeeeeeeeeeeeeeeeeeeeseeeeseeeeeeeeess 105 Tri State Inputs Object Index 0X2102 eeecceeeeeeeeeeeceeeeeeeneeeteeeeeeeesees 107 Switch Feed Output Object Index 0X2103 ee ceeeeeeeeeeeeeeeteeeeeeeeeeeeees 109 Analog Input Objects Index 0x2200 through 0x2203 cceceesseeeeee 110 Voltage Sense Analog Input Object Index 0x2210 n se 112 Feed Currents Object Index 0X2211 0 02 ceecccceeeeeeeee cece tees ee eeeeeeneeeeeeeees 113 Analog Output Object Index Ox2300 eccecceeeeeeeeeeeeeeeeeeeneeesseeeeeneetees 114 Objects PWM Output Index 0x2400 through 0x2402 s s s 116 H Bridge Object Index Ox2500 0 0 eee terre eeeecieeeeeteneeee teaser eneeeereea 120 Frequency Input Objects Index 0x2600 through 0x2601 eeeeeee 122 OS Update Index 0x4554 and EDS Objects Index 0x4555 ee 124 Obje
44. 50 100613 PCB revision 100614 PCB options SEERA Production 201000 Runtime registers in milliseconds rw 100700 Internal version number 201001 Runtime registers in seconds rw 100701 Serial number register string 201002 Runtime register in register 201003 100707 Units rw 100708 Day 201003 10 ms units for register 201002 rw 100709 Month r AN 100710 Veal 201004 Runtime registers in milliseconds ro 100711 TestNum 100712 rooney 202930 Web status bit coded Features 1O Module Bit 0 1 FTP server available Bit 1 1 HTTP server available 100808 Features Bit2 1 E mail available 100809 Diagnostics mask Bit 3 1 Data file function available Features JCM 350 Bit 4 1 Modbus TCP has been licensed 100800 Internal version number Bit 5 1 Modbus TCP available 100801 MAC Address Jetter Bit 6 1 Ethernet IP available 100802 MAC Address device 202936 Control register File System 100803 Serial interface 0xc4697a4b Formatting the flash disk 100804 Switch 100805 STX 100806 Remanent registers 100808 CAN bus 100809 SD memory card 202960 Password for system command register 0x424f6f74 100810 Motion control 202961 System command register 100811 Intelligent slave modules 100812 LP emal 202980 Error history Number of entries 100819 Modbus TCR 202981 Error history Index 100815 LED for SD memory card 202982 Error Riia Ent 100816 User LEDs rye ENUY 100817 RTC 203000 Interface monitoring JetIP 203001 Interface mon
45. 672 704 736 768 800 832 864 896 928 960 992 1024 1056 1088 1120 1152 1184 1216 1248 1280 1312 1344 1376 1408 1440 1472 1504 1536 1568 1600 1632 1664 1696 1728 1760 1792 1824 1856 1888 1920 1952 1984 2016 System Functions 4 5 20 21 22 23 24 25 26 27 28 29 30 60 61 65 67 66 68 80 85 81 82 90 91 92 96 BCD to HEX conversion HEX to BCD conversion 383 415 447 479 511 543 575 607 639 671 703 735 767 799 831 863 895 927 959 991 1023 1055 1087 1119 1151 1183 1215 1247 1279 1311 1343 1375 1407 1439 1471 1503 1535 1567 1599 1631 1663 1695 1727 1759 1791 1823 1855 1887 1919 1951 1983 2015 2047 Square root Sine Cosine Tangent Arc Sine Arc cosine Arc tangent Exponential function Natural logarithm Absolute value Separation of digits before and after the decimal point CRC generation for Modbus RTU CRC check for Modbus RTU Reading register block via Modbus TCP Writing register block via Modbus TCP Initializing RemoteScan Starting RemoteScan Stopping RemoteScan Writing data file Appending data file Reading data file Deleting data file 110 150 151 152 Quick Reference JCM 350 E mail feature Configuring NetCopyList Deleting NetCopyList
46. 9 STX API STX Function SAEJ1939AddRx Introduction Function Declaration Function Parameters Calling up the function SAEJ1939AddRx prompts the JCM 350 E03 to receive a specific message This message is sent from another bus node The address of this bus node is transferred to this function as a bySA parameter If the message is not sent the value received last remains valid Cyclical reading continues until the function SAEJ1939Init is called up again Function SAEJ1939AddRx CANNo Int IPGN Long bySA Byte BytePos Int BitPos Int DataType Int DataLength Int const ref VarAddr ref stJ1939 TJ1939Rx EventTime Int InhibitTime Int Ent The function SAEJ1939AddRx has the following parameters CANNo O CAN channel number CANMAX IPGN 0 OxX3FFFF see Group Number bySA Source Address of message 0 253 sender BytePos Starting position of bytes of data 1 n to be received BitPos Starting position of bits of data to be received DataType Data type of data to be received DataLength Volume of data for the global variable VarAddr VarAddr Global variable into which the lt a value is entered TJ1939Rx Control structure structure EventTime Time lag between two telegrams oo Value 1 000 ms gt Inhibit Time InhibitTime Minimum time lag between two Default Value 100 ms telegrams received lt EventTime Jetter AG 145 8 SAE J1939 STX API Return Value The fun
47. A JCM350_BA stxs Data Dump Oscilloscope Library Others Q Functions 3 Files phi Hardware Fa setup Double click on the program file in our example JCM350_BA stxp The program file has the same name as the project plus the extension stxp Result The program file opens in the JetSym editor Enter the following program code Var Result Int at SVL 1000000 End Var Task Main Autorun Result CanOpenInit 0 127 Version 01 00 0 00 End Task Press the F7 key to trigger a project build Result A program which will run on the controller Press the shortcut CTRL F5 Result The program will be uploaded to the controller Result The program can now be enhanced In IntelliSense Ctrl Space Bar the CANopen functions are now available 66 Jetter AG JCM 350 E03 Initial Commissioning Information on Communication with a JXM IlO E02 Example Wiring The illustration below shows an wiring example of the following CANopen Diagram devices by Jetter AG Controller JCM 350 E03 Peripheral module JXM IO E02 2 2a 2b 3 eS eo e OUT_CAN_L OUT_CAN_L x z Pt z o Z He 6 3 z IN_CAN_H IN_CAN_L IN_CAN_L OUT_CAN_H OUT_CAN_L IN_CAN_L IN_CAN_H 120 Ohm 120 Ohm CAN_L CAN_L Number Description Node ID 1 CAN bus 2 Controller J
48. Application Documentation Contents Jetter AG This chapter describes the STX functions of the SAE J1939 STX API SAE J1939 is an open standard for networking and communication in the commercial vehicle sector The focal point of the application is the networking of the power train and chassis The J1939 protocol originates from the international Society of Automotive Engineers SAE and works on the physical layer with CAN high speed according to ISO 11898 These STX functions are used in communication between the controller JCM 350 E03 and other ECUs in the vehicle As a rule engine data e g rpm speed or coolant temperature are read and displayed The key SAE J1939 specifications are J1939 11 Information on the physical layer J1939 21 Information on the data link layer J1939 71 Information on the application layer vehicles J1939 73 Information on the application layer range analysis J1939 81 Network management Topic Page Content of a J1939 MeSSAGE eect cette eeete neste teens ee taeeeee tener tneeeeeee 140 STX Function SAEJ1939I Mit cise cciscseticdesecadesnsecsadeastdcdsesiedivdessteedeansacneds 142 STX Function SAEJT939SCtSA visi caeenictesecastavstnctiviancotinudiecdvseactntan ttn 143 STX Function SAEJ1939GetSA serrie nr E EEEE 144 STX Function SAEJI939AddRX oec iare eal AAE 145 STX Function SAEJI939AddTX scsccccercrncai a 148 STX Function SAEJ1939RequestPGN 0 ccceceeeeeeecee
49. CE 7 CANOPEN_INTEGERS6 CANOPEN_UNSIGNED46 CANOPEN_INTEGER64 CANOPEN_UNSIGNED64 CANOPEN_REAL64 CANOPEN_VISIBLE_STRING CANOPEN_OCTET_STRING CANOPEN_UNICODE_STRING CANOPEN_DOMAIN After calling up the function the Busy parameter is set to SDOACCESS_INUSE With an error in transmission Busy is set to SDOACCESS_ERROR With a successful transmission the number of bytes transmitted is returned Jetter AG 75 6 CANopen STX API Busy Error Codes Macro Definitions Using this Function 76 With an error in transmission Busy returns an error code The following error codes are available SDOACCESS_STILLUSED Another task is communicating with the same node ID SDOACCESS_TIMEOUT The task has been timed out because the device with the given node ID is not responding If the specified device does not respond within 1 second the timeout code is set SDOACCESS_ILLCMD The response to the request is invalid SDOACCESS_ ABORT The device with the node ID was aborted SDOACCESS SYSERROR General internal error The following macros have been defined in connection with this function SDOACCESS FINISHED busy This macro checks whether communication has finished SDOACCESS_ERROR busy This macro checks whether an error has occurred Result CanOpenUploadSDO 0 66 Ox100A 0 CANOPEN STRING sizeof var Versionstring var Versionstring busy Jetter AG JCM 350 E03 JetSym S
50. CM 350 E03 by Jetter 2a Controller JCM 350 Ox7F 127 decimal 2b 1 0 module JXM IO E02 0x10 16 decimal Separate I O module JXM IO E02 0x11 17 decimal with user configured tri state inputs CANopen Interface During initial commissioning the following restrictions limitations of the Restrictions CANopen interface on the JXM IO E02 must be taken into account PDOs are not user configurable PDOs are transmitted only asynchronous on request Communication with The following information supports you in commissioning peripheral modules Peripheral Modules such as JXM IO E02 Initialize the controller as described in the manual of 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 Jetter AG 67 5 Initial Commissioning JetSym STX Sample Program Related Topics The following program fragment 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 0x7F 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 v4 3 0
51. DARD FEED in milliamp Sub Index 2 The function of sub index 2 is described below Sub index 2 reports the measured current of SAFETY FEED in milliamp Jetter AG 113 7 CANopen Objects Analog Output Object Index 0x2300 Analog Output The structure of the object Analog Output is shown in the following table Index 0x2300 This object is for configuring the analog output Also the analog output voltage current can be set as process value Index Sub Index Default Description Attributes 0x2300 O 5 Number of entries ro read only 1 0 Not used 2 0 Functional Mode rw read amp write 3 0x05 Not used 4 0 Process value 0 rw Output Voltage 5 0 Process value 1 rw Output Current Sub Index 2 The function of sub index 2 is described below Sub index 2 can be used to select between the following modes of operation 0x00 Disabled No output generated 0x01 Constant output current 0x02 Constant output current ratiometric value specified 0x03 Constant output current absolute value specified To select one of the above modes write the corresponding value to sub index 2 When reading sub index 2 the currently set mode is returned The following information can be obtained 0x00 Disabled No output generated 0x01 Constant output current a 0x02 Constant output current ratiometric value specified 0x03 Constant output current absolute value specified m 0x08 Short circuit to ground
52. Default Path Introduction Path and File Name File app start ini Related Topics When uploading the application program from JetSym to the JCM 350 E03 it is stored as file to the internal flash disk Path and file name are entered into the file app start ini In the directory app JetSym by default creates a subdirectory and assigns the project name to it Then JetSym stores the application program to this subdirectory assigning the extension es3 to it Path and file names are always converted into lower case letters This file is a text file with one section holding two entries Element Description Startup Section name Project Path to the application program This path is relative to app Name of the application program file Example Startup Project test program Program test _program es3 Result The application program is loaded from the file app test_program test_program es3 Storing the Application Program to the SD Card Jetter AG 213 JCM 350 E03 Quick Reference JCM 350 13 Quick Reference JCM 350 OS version This quick reference summarizes the registers and flags of the controller JCM with OS version 1 09 0 200 General Overview Registers 100000 100999 Electronic Data Sheet EDS 101000 101999 Configuration 200000 209999 210000 219999 General system registers Application program 101102 101103 101132 101133
53. EventTime Jetter AG 83 6 CANopen STX API Return Value Parameter CANNo Parameter CANID Default CAN Identifier Distribution 84 The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters 3 DataType is greater than DataLength 4 insufficient memory The value of the CANMAX parameter depends on the device The following table provides information on this point ee The CANID parameter is used to transfer the CAN identifier The CAN identifier is generated with a macro The CAN identifier depends on the node ID of the other communicating user and on whether it is a PDO1 PDO2 PDO3 or PDO4 message Macro definitions Define CANOPEN _PDO1_RX NodelD NodelD 0x180 Define CANOPEN _PDO2 RX NodelD NodelD 0x280 Define CANOPEN _PDO3 RX NodelD NodelD 0x380 Define CANOPEN _PDO4 RX NodelD NodelD 0x480 Define CANOPEN _PDO1_TX NodeID NodelD 0x200 Define CANOPEN _PDO2 TX NodelD NodelD 0x300 Define CANOPEN _PDO3_ TX NodelD NodelD 0x400 Define CANOPEN _PDO4 TX NodeID NodelD 0x500 Example for calling up the macro CANOPEN_PDO2_RxX 64 gt The resulting CAN identifier is 2COh 40h 280h For CANopen the following CAN identifier distribution is predefined In this case the node number is embedded in the identifier Jetter AG JCM 350 E03 Parameter DataType
54. F byOC 31 0x1F byFMI 127 0x7F Result SAEJ1939GetDM2 1 0x00 stdm2stat_pow stdm2msg_ pow Jetter AG 159 8 SAE J1939 STX API JetSym STX Program 160 By calling up the function SAEJ1939GetDM2 the JCM 350 E03 requests the current diagnostics error code PGN 65227 Include SAEJ1939 stxp Var bySAEJ1939Channel Byte own Source Address Byte stdm2stat_pow TJ1939DM2STAT stdm2msg pow Array 10 of STJ1939DM2MSG End Var Initializing CAN 1 bySAEJ1939Channel 1 own Source Address 20 SAEJ1939Init bySAEJ1939Channel own Source Address Required for a cyclical task TaskAllEnableCycle EnableEvents End Task Task t_RequestPGN_ 5000 cycle 5000 Var Return value Int End Var Request the diagnostics error codes DM2 POW stdm2stat_pow 1Buffer sizeof stdm2msg_pow Return value SAEJ1939GetDM2 bySAEJ1939Channel stdm2stat_pow stdm2msg_ pow If Return_value Then Trace DM2 Request failed End If End Task 0x00 Jetter AG JCM 350 E03 SAE J1939 STX API STX Function SAEJ1939SetSPNConversion Introduction Function Declaration Function Parameters Return Value Parameter CANNo Using this Function Calling up the function SAEJ1939SetSPNConversion determines the configuration of bytes in the message which is requested using function SAEJ1939GetDM1 or SAEJ1939GetDM2 In other w
55. F Signal voltage ON Load current of OUT 9 through OUT 10 Load current of OUT 11 through OUT 16 Maximum inrush current Can be switched off by electronic safety switch Short circuit proof Overcurrent detection No load detection Active high output SAFETY FEED DC 8 32 V lt 1 0V Usacety 0 5 V max 2 5A max 5 0A tbd Yes Yes Yes Yes Type of switch outputs Rated voltage Permissible voltage range Signal voltage OFF Signal voltage ON Load current Short circuit proof Overcurrent detection No load detection Active high output STANDARD FEED DC 8 32V lt 1 0V Ustanparp 0 5 V each 2 5 A max Yes Yes Yes Jetter AG 223 Appendix Technical Data PWM Outputs Technical Data Analog Output Technical Data Analog Inputs Technical Data Frequency Inputs Operating Modes Current controlled output PWM output with static duty cycle Dither function Yes at PWM freq 2 kHz Load current 0 2 5A Short circuit proof Voltage range at 50 mA Electrical isolation none Short circuit detection Voltage range 0 5V 0 IGNITION FEED Current range 0 20mA 4 20 mA Input impedance at 0 5 V 100 KQ Input impedance at 0 IGNITION FEED 50 kQ Input impedance at 0 20 mA 240 Q Application as frequency counter as two digital inputs Type of inputs Software selectable with either 2 KQ pull up to STANDARD FEED or 2 kQ pull down to ground
56. In JetSym a confirmation dialog opens Jetter AG 209 JCM 350 E03 Application Program 12 Application Program Introduction Required Programmer s Skills Contents Jetter AG This chapter explains how the application program is stored to the JCM 350 E03 and how the user selects the program to be executed This chapter requires knowledge on how to create application programs in JetSym and how to transmit them via the JCM 350 E03 file system Topic Page Loading an Application Program ccccccceeeeeteeesteeeeeesieeeeeeteeeeeenneeeeaes 212 Application Program Default Path ccccceccseeceessneeeesesteeesesseeeeeaes 213 211 12 Application Program Loading an Application Program If mode selector S11 is in RUN position the application program is loaded and executed by the file system either on relaunch of the application program via JetSym or on re boot of the controller Introduction The application program is loaded by the controller s OS as follows The OS reads the file app start ini from the internal flash disk The OS reads out the path to the application program from the entry Project Loading Process The OS reads out the program name from the entry Program The path is relative to the directory app The OS loads the application program from the file lt Project gt lt Program gt 212 Jetter AG JCM 350 E03 Application Program Application Program
57. JCM 350 E03 Controller on the CAN Bus User Manual Jetter Introduction Variant Jetter Item 60877279 Revision 1 09 2 November 2011 Printed in Germany Jetter AG reserve the right to make alterations to their products in the interest of technical progress These alterations will not necessarily be documented in every single case This user manual and the information contained herein have been compiled with due diligence However Jetter AG assume no liability for printing or other errors or damages arising from such errors The brand names and product names mentioned in this manual are trade marks or registered trade marks of the respective title owner 2 Jetter AG JCM 350 E03 Address Assignment to Product Introduction How To Contact us Jetter AG Graeterstrasse 2 D 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 JCM 350 E03 Type Serial Year of construction Order To be entered by the customer Inventory Place of operation Jetter AG Introduction Significance Significance of this user manual The user manual is an integral part of JCM 350 E03 t must be kept in a way that it is always at hand until th
58. Jetter AG 141 8 SAE J1939 STX API STX Function SAEJ1939lnit Introduction Calling up the SAEJ1939lnit function initializes one of the CAN busses not CAN 0 as this is reserved for CANopen available for the J1939 protocol From then on the JCM 350 E03 has the SA Source Address assigned by the function parameter mySA It thus has its own device address on the bus Function Declaration Function SAEJ1939Init CANNo Int mySA Byte Int Function Parameters The function SAEJ1939lnit has the following parameters CANNo CAN channel number 1 CANMAX Return Value This function transfers the following return values to the higher level program Return Value 0 OK 1 Error when checking parameters 3 Insufficient memory for SAE J1939 Parameter CANNo The value of the CANMAX parameter depends on the device The following table provides information on this point eve cama Using this Function Initializing the CAN Bus 1 The JCM 350 E03 has Node SA 20 0x14 The JCM 350 E03 can now send messages with the set SA and only these messages Result SAEJ1939Init 1 20 Address Claiming Address Claiming has not been implemented 142 Jetter AG JCM 350 E03 SAE J1939 STX API STX Function SAEJ1939SetSA Introduction Function Declaration Function Parameters Return Value Parameter CANNo Using this Function Important Note Jetter AG Calling up the function SAEJ1939SetSA changes the own SA
59. M 350 E03 Parameter CANNo Return Value Using the Function Example 1 Using the Function Example 2 Using the Function Example 3 CANopen STX API The value of the CANMAX parameter depends on the device The following table provides information on this point eon Se The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters Command not known The own heartbeat status should be set to Operational Result CanOpenSetCommand 0 CAN CMD HEARTBEAT CAN HEARTBEAT OPERATIONAL The own heartbeat status and the status of all other devices on the CAN bus should be set to Operational Result CanOpenSetCommand 0 CAN_CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN NMT OPERATIONAL The heartbeat status of the device with the node ID 60 Ox3C should be set to Operational Result CanOpenSetCommand 0 CAN CMD NMT Value 60 CAN CMD NMT CAN NMT OPERATIONAL Jetter AG 73 6 CANopen STX API STX Function CanOpenUploadSDO Introduction Calling up the CanOpenUploadSDO function is aimed at accessing a particular object in the Object Directory of the message recipient and the value of the object is read Data is exchanged in accordance with the SDO upload protocol Supported transfer types are segmented more than 4 data bytes and expedited up to 4 data bytes Function Declaration Function C
60. M Access Object 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 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 re
61. Mounting and Installation Selecting Installation Material Avoid Improper Installation Material Preparing for Installation 56 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 Use the following installation material Screws bolts Size M5 x 15 Surface galvanized Strenght class 8 8 Washers Size 5 3 x 10 Surface galvanized Screw nuts Size M5 Surface galvanized Strenght class 8 8 Avoid installation material made from stainless steel In connection with the housing material of the JCM 350 E03 galvanic corrosion may occur Mark off the positions of the 4 mounting holes Center punch the 4 holes E EN G 110 133 5 the thickness of the mounting surface is drill the following holes Pre drill 4 2 mm Tapa thread M 5 gt 6 mm steel or gt 8 mm aluminum Jetter AG JCM 350 E03 Notes on Installation Installing the JCM 350 E03 Tapped Holes Mounting and Installation the thickness of the mounting surface is drill the following holes lt 6 mm steel or lt 8 mm aluminum Drill the holes 6 mm Deburr the holes Direct contact between housing and mounting surface improves heat dissipation Therefor
62. NORTR CanOpenAddPDORx CAN CONTROLLER 0 CANOPEN PDO2 RX NodeID Node 1 4 CANOPEN DWORD sizeof Data_2 of Node 1 Data_2 of Node 1 Event Time Inhibit Time CANOPEN ASYNCPDORTRONLY CANOPEN NORTR CanOpenAddPDORx CAN_CONTROLLER_0 CANOPEN PDO3 RX NodeID Node 2 0 CANOPEN BYTE sizeof Data_1 of Node 2 Data_1_of Node 2 Event Time Inhibit Time CANOPEN ASYNCPDO CANOPEN NORTR All devices on SW_Version the CAN bus have the status of PREOPERATIONAL Setting all devices on the CAN bus to OPERATIONAL status CanOpenSetCommand CAN CONTR CAN_CMD NMT_ Value CAN_CMD_N CAN _NMT START As from now if PDO telegram End Task OLLER_0 MT ALLNODES CAN _CMD_NMT s will be transmitted 88 Jetter AG JCM 350 E03 CANopen STX API STX Function CanOpenAddPDOTx Introduction Notes Function Declaration Function Parameters By calling up the CanOpenAddPDOTx function process data can be deposited on the bus However that should not mean that other CANopen devices on the bus can also read this process data The PDO telegram is however only then transmitted if the CANopen devices on the bus have a status of Operational As soon as there are any changes to the process data another PDO telegram is transmitted immediately The smallest time unit for the Event Time is 1 ms The smallest time unit for the Inhibit Time
63. Q Input impedance at 0 IGNITION FEED 50 KQ Input impedance at 0 20 mA 2400 Resolution 10 bits Frequency Inputs Frequency input 1 Frequency input 2 Technical Data Frequency Inputs Parameter Application as frequency counter as two digital inputs Type of inputs Software selectable with either 2 kQ pull up to STANDARD FEED or 2 kQ pull down to ground Frequency measurement range Measurement method Result of measurement Jetter AG 51 4 Mounting and Installation H Bridge Outputs Technical Data ers H Bridge as two independent digital inputs 52 Jetter AG JCM 350 E03 Mounting and Installation 4 2 Installing the JCM 350 E03 Introduction This chapter describes how to install the JCM 350 E03 Contents Topic Page Installing the JCM 350 E03 cceccceceeecesceeeeeeeeseeeeeeeeeseeeeeseaeeesaeeeseeeeeaees 54 Jetter AG 53 4 Mounting and Installation Installing the JCM 350 E03 Selecting a Place for Select a suitable place for the device to be mounted Installation A place is suitable if it fulfils the following requirements The installation surface must be made from one of the following materials aluminum plate galvanized steel plate lacquered 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
64. S File eds ini Introduction Properties Path to EDS Files File Structure Example Controller Identifying the Controller EDS data can be read out from the file eds ini The file can be accessed via file system of the controller For an FTP connection the user must have administrator rights e g user admin or system rights e g user system The EDS file of the controller is located in the subdirectory System This file is read only Formatting the flash disk has no impact on this file The illustration below shows an example of the directory System containing the EDS files of the controller gt System 0S config ini eds ini flashdiskinfo txt flashdisklock ini keys ini users ini The EDS file is a text file the entries of which are grouped into several sections This is an example of an EDS file belonging to a JCM 350 Jetter AG JetControl Electronic Data Sheet IDENTIFICATION Version 0 Code 928 Name JCM 350 PcbRev 01 PcbOpt 00 PRODUCTION Version 0 SerNum 10080703010015 Day 4 Month 7 Year 2010 TestNum 1 TestRev 01 10 03 50 Jetter AG 25 3 Identifying the Controller Section IDENTIFICATION Section PRODUCTION Section FEATURES Related Topics FEATURES Version 1 MAC Addr 00 50 CB 00 05 F0 STX 1 NVRegs 6000 The hardware configuration can be seen from section IDENTIFICATION
65. Sending NetCopyList Jetter AG 217 13 Quick Reference JCM 350 218 Jetter AG JCM 350 E03 Appendix Appendix Introduction This appendix contains electrical and mechanical data as well as operating data Contents Topic Page Technical Data sssrinin aaa a a dees 220 eE E EAE E E E T E E E 230 Jetter AG 219 Appendix A Technical Data Introduction This chapter contains information on electrical and mechanical data as well as on operating data of the JCM 350 E03 Contents Topic Page Technical Specifications nisana aaa aia anaia 221 Physical DIMENSIONS 2 cecc sicceedecssetects seine nE 226 Operating Parameters Environment and Mechanics ccccccceeeeeee 228 Operating Parameters EMC 0 ccccccccsscceceesneeceeesneeeeesnneeeeessueeeessneeeeeess 229 220 Jetter AG JCM 350 E03 Appendix Technical Specifications Manufacturer Model Article Coding Supply Operating voltage DC 8 0 32 0 V Operating voltage IGNITION FEED min DC 5 9 V Peak Current IGNITION FEED max 2 0 A STANDARD FEED max 52 0 A SAFETY FEED max 40 0 A Overcurrent detection Yes Bus type CAN bus Protocol CANopen Baud rate 250 kBaud 1 MBaud Terminating resistor Can be activated by means of software Technical Data Tri State Inputs Application for device coding as digital inputs Type of inputs Pull up resistor to IGNITION FEED and pull down resistor to ground Tri state detection T
66. Source Address during runtime Function SAEJ1939SetSA CANNo Int mySA Byte Pinky The function SAEJ1939SetSA has the following parameters CANNo CAN channel number 1 CANMAX The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters The value of the CANMAX parameter depends on the device The following table provides information on this point ee BTM 011 n a The SA is changed during runtime Result SAEJ1939SetSA 1 20 Messages are immediately sent received with the new SA 143 8 SAE J1939 STX API STX Function SAEJ1939GetSA Introduction By calling up the function SAEJ1939GetSA you can determine the own SA Source Address Function Declaration Function SAEJ1939GetSA CANNo Int ref mySA Byte j lt Int Function Parameters The function SAEJ1939GetSA has the following parameters CANNo CAN channel number 1 CANMAX SA currently set 0 253 Return Value The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters Parameter CANNo The value of the CANMAX parameter depends on the device The following table provides information on this point BTM 011 n a Using this Function This function returns the currently set SA Result SAEJ1939SetSA 1 actual_SA 144 Jetter AG JCM 350 E03 SAE J193
67. TX Program CANopen STX API In the following example the manufacturer s software version is read from the CANopen Object Directory of the device with the addressed node ID Include CanOpen stxp Const CAN no CAN CONTROLLER 0 0 Node ID Node 1 NodeID Node_0 10 Node ID node 2 NodeID Node _1 66 End Const busy Int Versionstring String Objectindex Word Subindex Byte End Var Task main autorun Var SW_ Version String End Var SW Version v4 3 0 2004 Initialization CAN 0 CanOpenInit CAN CONTROLLER _0 NodeID Node 0 SW Version All devices on the CAN bus have the status of PREOPERATIONAL Request manufacturer s software version per SDO Objectindex Ox100A Subindex 0 CanOpenUploadSDO CAN CONTROLLER 0 NodeID Node _1 Objectindex Subindex CANOPEN STRING sizeof Versionstring Versionstring busy When SDOACCESS FINISHED busy Continue If SDOACCESS ERROR busy Then Troubleshooting End If Fk End Task Jetter AG 17 6 CANopen STX API STX Function CanOpenDownloadSDO Introduction Calling up the CanOpenDownloadSDO function is aimed at accessing a particular object in the Object Directory of the message recipient and the value of the object is specified Data is exchanged in accordance with the SDO download protocol Supported transfer types are segmented or block more than 4 data bytes and
68. Type Byte Bit group Description Value Slow Flash 1 Hz 50 duty cycle Fast Flash 2 Hz or faster 50 duty cycle Reserved Oo fon Unavailable Do Not Flash Default Value ISPN 0 byOC 0 byFMI 0 For older controllers grandfathered setting ISPN 524287 0x7FFFF byOC 31 0x1F byFMI 127 0x7F Result SAEJ1939GetDM1 1 0x00 stdmlstat_pow stdmlmsg pow 156 Jetter AG JCM 350 E03 SAE J1939 STX API JetSym STX Program By calling up the function SAEJ1939GetDM1 the JCM 350 E03 requests the current diagnostics error code PGN 65226 Include SAEJ1939 stxp Var bySAEJ1939Channel Byte own Source Address Byte stdmlstat_pow TJ1939DM1STAT stdmlimsg pow Array 10 of STJ1939DM1MSG MyTimer TTimer End Var Task main autorun Initializing CAN 1 bySAEJ1939Channel 1 own Source Address 20 SAEJ1939Init bySAEJ1939Channel own Source Address TimerStart MyTimer T 2s Loop When TimerEnd MyTimer Continue Request the diagnostics error codes DM1 POW stdmlstat_pow 1Buffer sizeof stdmlmsg_ pow SAEJ1939GetDM1 bySAEJ1939Channel 0x00 stdmlstat_pow stdmlmsg_ pow TimerStart MyTimer T 2s End_ Loop End Task Jetter AG 157 8 SAE J1939 STX API STX Function SAEJ1939GetDM2 Introduction Calling up the function SAEJ1939GetDM2 requests the diagnostics error codes that preceded the current one
69. also see SAE J1939 73 No 5 7 2 The corresponding PGN number is 65227 Function Declaration Function SAEJ1939GetDM2 CANNo Int bySA Byte ref stJ1939DM2stat TJ1939DM2STAT ref stJ1939DM2msg TJ1939DM2MSG p Panes Function Parameters The function SAEJ1939GetDM2 has the following parameters CANNo CAN channel number 1 CANMAX bySA Source Address of message 0 253 sender The own SA cannot be used stJ1939DM2stat IStatus Lamp Status IMsgCnt Number of received messages Size of variable stJ1939DM2msg stJ1939DM2msg Error Code Error counter Error Type Return Value The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters Parameter CANNo The value of the CANMAX parameter depends on the device The following table provides information on this point 158 Jetter AG JCM 350 E03 stJ1939DM2stat IStatus stJ1939DM2msg Using this Function SAE J1939 STX API Default OxFFOO os Resseptampsaie OO O O es amevamia O OO en poems OOOO O O es pemreasoam OOOO O es peneem O OO en reata O Type Byte Bit group Description Value Oo m mea OSOS Flash zj a Slow Flash 1 Hz 50 duty cycle i a Fast Flash 2 Hz or faster 50 duty cycle o p e Reseed oOo oua Unavailable Do Not Flash Default Value ISPN 0 byOC 0 byFMI 0 For older controllers grandfathered setting ISPN 524287 0x7FFF
70. anOpenUploadsDO CANNo Int NodeID Int windex Word SubIndex Byte DataType Int DataLength Int const ref DataAddr ref Busy Int y 2int Function Parameters The CanOpenUploadSDO function has the following parameters CANNo CAN channel number 0 CANMAX NodelD Node ID of the message 1 127 recipient Index number of the object 0 OxFFFF SublIndex Sub index number of the object 0 255 DataType Type of object to be received DataLength Volume of data for the global variable DataAddr DataAddr Global variable into which the received value is to be entered Return Value The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters 2 Controller in Stop status 3 DataType is greater than DataLength 4 insufficient memory 74 Jetter AG JCM 350 E03 Parameter CANNo Parameter DataType Busy CANopen STX API The value of the CANMAX parameter depends on the device The following table provides information on this point ee E The following data types can be received Byte types CANopen format Jetter format 1 CANOPEN_INTEGER8 Byte CANOPEN_UNSIGNED8 2 CANOPEN_INTEGER16 Word CANOPEN_UNSIGNED16 CANOPEN_INTEGER24 CANOPEN_UNSIGNED24 CANOPEN_INTEGER32 CANOPEN_UNSIGNED32 CANOPEN_REAL 5 CANOPEN_INTEGER40 CANOPEN_UNSIGNED40 CANOPEN_INTEGER48 CANOPEN_UNSIGNED48 CANOPEN_TIME_OF_DAY CANOPEN_TIME_DIFFEREN
71. and CAN_H are twisted Cable Lengths The maximum permitted cable length depends on the baud rate used and the number of CANopen devices connected Baud Rate Cable length Stub length Overall stub length 44 Jetter AG JCM 350 E03 Mounting and Installation Connecting Digital Inputs and Outputs Introduction The following diagrams show the pin assignment of the connector view from the front Digital Inputs C HS aeeoo Ls 27 28 eGo 32 Pin Description 3 Digital input 1 4 Digital input 2 5 Digital input 3 6 Digital input 4 7 Digital input 5 Technical Data sae Digital Inputs IN 1 Parameter Description through IN 5 Type of inputs Software selectable with either 2 KQ pull up to STANDARD FEED or 2 kQ pull down to ground Rated voltage STANDARD FEED Permissible voltage range DC8 32V Threshold level OFF lt 1 0V Threshold level ON gt 3 5V Digital Universal I Os STANDARD Pin Description 8 Universal I O IN 6 OUT 1 9 Universal I O IN 7 OUT 2 10 Universal I O IN 8 OUT 3 11 Universal I O IN 9 OUT 4 12 Universal I O IN 10 OUT 5 13 Universal I O IN 11 OUT 6 14 Universal I O IN 12 OUT 7 Jetter AG 45 4 Mounting and Installation Pin Deseripton OO Universal I O IN 13 OUT 8 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 Ret
72. as 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 The module responds to this error in the following levels Level 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 0x9010 0x9017 1 Over current 0x2310 0x2317 Ja i No load cable breakage 0x23B0 0x23B7 2 199 10 Protection and Diagnostic Features JXM IO E02 Analog Output Detecting the Error Root Cause of Error Response of the Module to this Error The analog output will detect short circuit to ground faults No other faults are tested for on the Analog Output because the output is both current and voltage controlled The controller algorithm is responsible to keep the output voltage and current within specified limits This error may be caused by the following root cause When a short to ground is detected the output is notification is sent out disabled and the fault The module responds to this error in the following levels The module will send a CANopen emergency object to the controller ntil a power cycle has The module will block the function that has ca
73. ation This parameter stores an output current limit value for the H bridge The data is in units of 1 mA i e 1 1 mA 2 500 2 5 A The current limit is in the range 250 3 000 250 mA 3 0 A The default value is 2 500 2 5 A This parameter stores a no load threshold for the H bridge The threshold is specified in milliamps The threshold is in the range 100 250 100 mA 250 mA The default value is 100 100 mA This parameter stores an output current limit value for the PWM outputs The data is in units of 1 mA i e 1 1 mA 2 500 2 5 A The current limit is in the range 500 2 499 500 mA 2 5 A The default value is 2 499 2 5 A This parameter applies only when the outputs are used in static PWM duty cycle output mode without current control This parameter sets the power on default biasing for the digital inputs IN 1 through IN 5 Please refer to the section on Digital Input object with index 0x2100 and sub index 2 The default value is 0 i e inputs IN 1 through IN 5 are Active Low This parameter sets the initial output state for the two switch feed outputs at power on Please refer to the section on Switch Feed Output object with index 0x2103 and sub index 5 The default value is 0 selecting both outputs to be disabled Jetter AG JCM 350 E03 Digital Output No Load Detection Enable PWM Output No Load Enable H Bridge No Load Enable Event triggered tran
74. both components within the JCM 350 E03 can be addresses separately Contents Topic Page Preparatory Work for Initial Commissioning ccccceeeeeeeeeeeeeteeeeeetees 60 Initial Commissioning in JEtSyYM ceecceceeceeeeeeeeeceeeeeeeeeeseeneeeeseeneeeeeeaeaes 62 Information on Communication with a JXM IO E02 eeen 67 Jetter AG 59 5 Initial Commissioning Preparatory Work for Initial Commissioning Introduction Default Values for JXM IO E02 Wiring the Controller Supported USB CAN Adaptors To be able to commission and program the JCM 350 E03 the following preparations are necessary Wire the power supply ignition and CAN interfaces Connect a USB CAN adaptor between controller and PC Install the driver software for the given adaptor The default values of the JXM IO E02 module are listed below Baud rate 250 kBaud CAN terminating resistor 0x01 resistor at the end of the CAN bus is enabled Node ID 0x10 For more information please refer to Wiring on page 36 To wire the controller JCM 350 E03 proceed as follows Step Action 1 Connect the following terminals with the power supply DC 8 32 V SAFETY 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 2 Connect a Sub D connector female to IN_CAN pin 64 and pin 65 allowing to connect t
75. ce cerca ae eeeaeeseeeeeseaeeesaeeesaaeeseeeeseaeeessaeeseeeeeaes 155 STX Function SAEJ1939GetDM 2 aircon ee ece cence cece ae eeenee ee ceeeceaeeesaeeeeaceeseaeeesaeeeeaeeeeeneesaes 158 STX Function SAEJ1939SetSPNCONVErSION eeeeeeeeeeeeeeeeee eee teeeeeeeteeeeeeeteeeaeeeteaeeeeeeeaaees 161 STX Function SAEJ1939GetSPNCOnverrsion ccececeeeeeeeeeeneeeeeseeeeeeseeeeeeseeeaeeseneaeeeeeeeaaees 162 Programming 163 Abbreviations Module Register Properties and Formats escececceeeeeeeeeeeeaeeeeeeeeeteenaees 164 Memory OVGIVIOW c cicccccvescece fesecececussties fececeiecensceeeiessceti es snetes cv scaeeesscceidivscasiesecctineeescctedsyecceus case 165 File System Momo rescnereian ce yatitea ett a atthe ted ceieedetath 166 Operating System Memory an cecil areas seec dated A led Ea 167 Application Program Me moly usss aan Anaa aE A AEAEE E 168 Memory for Non Volatile Application Program Registers esseeeeeeseessersseerresrrrrssrrrssrernssens 169 Memory for Non Volatile Application Program Variables asseeeeeeeeeeeeerreseerreserrsseernsseernsses 170 Special Registos va2 asyeuteis et ta uyee teenaged E TE 172 Flag eg veh a cee htcaceae ea dtadee E bie fadeee Pee ata deta E dete eet eee ed 173 Runtime Register Sissa ea aAA A AAAA AA RRASA EAA EAA ERRANSA 174 Description of Runtime RegisterS uaasssesseeesrsserrrresrsrraattnnedtinnanttnndtnnnaadtanneddanaaatannaananaaeana 175 Jetter AG JCM 350 E03 Contents
76. ceives process data on the CAN bus only on request This is achieved by the parameter CANopen ASYNCPDORTRONLY Following this the JXM IO E02 is set into the state operational Now the JXM IO E02 receives the data in question and sets the digital outputs as requested 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 Variable for setting outputs Data_Outputs Word SW Version String End Var Task Main Autorun Setting output 1 Data_Outputs 1 Software version of the controller SW Version v4 3 0 182 Jetter AG JCM 350 E03 Programming Initializing CAN 0 CanOpenInit CAN CONTROLLER _0 NodeID Node 0 SW Version Sending process data to the bus CanOpenAddPDOTx CAN CONTROLLER 0 CANOPEN PDO1 TX NodeID Node 1 0 CANOPEN WORD sizeof Data Outputs Data Outputs Event Time Inhibit Time CANOPEN_ASYNCPDORTRONLY 7 p All devices on the CAN bus have the status of PREOPERATIONAL Setting all devices on the CAN bus to OPERATIONAL status CanOpenSetCommand CAN CONTROLLER 0 CAN CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN _NMT_ START End Task Jetter AG 183 9 Programming 9 5 Digital Inputs Introduction This chapter describes how to read and configure digital inputs by u
77. cessory The connector specification is listed below Connector Specification Manufacturer Model Tyco AMP Article 963484 The diagram shows an example of a layout using a wiring harness 1 2 Y amp 4 35 6 BY iz e Ce Module JXM IO E02 Ignition lock Indicator light Battery Number BESE 2 3 Door contact swith s a 6 _ Controler som 350 E08 o Jetter AG 37 4 Mounting and Installation Example of Wiring Layout Introduction This chapter uses an example to show how the JCM 350 E03 is connected Example The diagram shows an example of a wiring layout 1 2 3 E Q9 pa Ignition lock Contacts e g reed contacts or limit switch Indicator light 4 Power supply battery 0 supply Power supply battery Za e g proportional valve Actuator e g electric motor 38 Jetter AG JCM 350 E03 Mounting and Installation Connecting the Power Supply and the 5 V Output Introduction The following diagrams show the pin assignment of the connector view from the front Power Supply Pin Function Terminal number in vehicles 1 SAFETY FEED Terminal 30 12 VDC or 24 VDC 2 Ignition IGNITION FEED Terminal 15 24 STANDARD FEED Terminal 30 12 VDC or 24 VDC 25 Ground Terminal 31 Ignition IGNITION FEED IGNITION FEED sources the digital electronics
78. compatibility reasons 102 Jetter AG JCM 350 E03 CANopen Objects Digital Inputs Object Index 0x2100 Digital Inputs The structure of the object Digital Inputs is shown in the following table This Index 0x2100 object is for configuring the digital inputs IN 1 through IN 5 and for obtaining their states Index Sub Index Default Description Attributes 0x2100 0 6 Number of entries ro read only 1 Not used 2 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 value 1 Input ro States 1 bit channel 6 5 Parameter 0 Number ro of Inputs Sub Index 2 The function of sub index 2 is described below Sub Index 2 is used to set inputs IN 1 through IN 5 to either active high internal pull down resistor or active low internal pull up resistor mode Abit value of 0 selects active low input state OFF and a bit value of 1 selects 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 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 Sub Index 4 The function of sub index 4 is described below Sub index 4 can be read to obtain the latest measured states of IN 1 through IN 5 a Sub index 4 returns the data in a two bit per channel format provided f
79. ct System Parameters Index 0X4556 ee eeeeeeeeeeeeteeetteeeeeenaees 125 Detailed Software Version Object Index 0X4559 esecsceeseeeeeeeseeeees 133 User EEPROM Access Object Index Ox5000 cceeeseeeereeeeteeeeeeeeees 134 100 Jetter AG JCM 350 E03 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 Default Description Attributes 0x1000 O 0x00030191 Type of device ro read only 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 Errors Bit 2 Voltage Errors Bit 3 Temperature Errors Bit 4 Communication error Bit 5 Parameter mismatch Bit 7 Manufacturer specific error for example hardware error None of the other bits are currently in use 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 0 0 Number of errors rw read amp entered in the Array s _ write Standard Error Field 1 0 Most recent error ro read only 0 indicates no error 2 64 Earlier Errors ro This objec
80. ction transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters Parameter CANNo The value of the CANMAX parameter depends on the device The following table provides information on this point e a a Parameter DataType Data types can include the following Byte types Bit types SAEJ1939 1 SAEJ1939_UNSIGNED8 SAEJ1939_ BYTE 2 SAEJ1939_UNSIGNED16 SAEJ1939_WORD SAEJ1939_UNSIGNED32 SAEJ1939_DWORD stevie a sts zat YO a ster ser g e w o s we o O e ww O O o r w Control Structure TJ1939Rx Struct TJ1939Rx Status of received message byStatus Byte Priority of received message byPriority Byte End Struct 146 Jetter AG JCM 350 E03 SAE J1939 STX API Using this Function JetSym STX Program Engine Manufacturer s Manual Result SAEJ1939AddRx OxFEEE 0x00 2 0 SAEJ1939 BYTE sizeof var Fueltemp var Fueltemp struct_TJ1939Rx EngineTemperatureTbl 1500 120 The device JCM 350 E03 with the own SA of 20 wants to receive and display the current fuel temperature The parameters InhibitTime and EventTime are not explicitly specified when calling up the function In this case the default values are used The controller that measures the fuel temperature has the SA of 0 In practice the address of the controller can be found in the engine manufacturer s documentation The fuel temperature has
81. d to a bit of the 32 bit word Bit 0 Digital input IN 1 Bit 1 Digital input IN 2 a Bit 2 Digital input IN 3 a Bit 3 Digital input IN 4 Bit 4 Digital input IN 5 Bit 16 Digital input IN 6 Bit 17 Digital input IN 7 Bit 30 Digital input IN 20 Bit 31 Digital input IN 21 131 7 CANopen Objects To enable disable event triggered transmission of a PDO message set the corresponding bit value 0 Event triggered transmission is disabled 1 Event triggered transmission is enabled The default value is 0 disabling event triggered transmission of a PDO message for all inputs 132 Jetter AG JCM 350 E03 CANopen Objects Detailed Software Version Object Index 0x4559 Detailed Software Version Index 0x4559 Jetter AG The structure of the object Detailed Software Version is shown in the following table This read only object supplies 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 Subindex Defaut Dosoripton Atributos osso o s Numeerotonvios ro veadon ao amn m a 2 eos en Master bootloader version 0 Slave OS version OS Slave OS version E bootloader version 133 7 CANopen Objects User EEPRO
82. depends on the device The following table provides information on this point BTM 011 n a Using this Function Result SAEJ1939GetSPNConversion 1 OxAE actual conversion method 162 Jetter AG JCM 350 E03 Programming 9 Programming Purpose of this Chapter Prerequisites Contents This chapter is for supporting you in programming the JCM 350 E03 in the following fields of activity Programming Additional Functions To be able to program the JCM 350 E03 the following prerequisites must be fulfilled AUSB CAN adaptor between PC and JCM 350 E03 and the driver software for this adaptor have been installed The device is now connected to a PC via CAN bus The programming tool JetSym 4 3 or higher is installed on the PC Topic Page Abbreviations Module Register Properties and Formats 0006 164 Memory OVEIVICW eeesececeee entree ee eetee tee taeee ee eaeeeeeeaeeeeeeaeeeeeeenaeeeenenaeeeeneaas 165 Runtime REGISIONS 5 viivceshecctesiy Recs yenaceswwhilues phere ivaidie baa viebaciay leas aed 174 Addressing the JXM IO E02 via CANOpen c cceeeceeeeeeeeeeeeeeeetees 178 Jetter AG 163 9 Programming Abbreviations Module Register Properties and Formats Abbreviations Module Register Properties Number Formats JetSym Sample Programs The abbreviations used in this document are listed in the following table R 100 Register 100 MR 150 Mod
83. described below 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 calculate 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 0 118 Jetter AG JCM 350 E03 No Load Detection CANopen Objects 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 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 Cycl
84. dex 2 Jetter AG 185 9 Programming Set input 1 to Active High CanOpenDownloadSDO CAN CONTROLLER _0 NodeID Node_1 Objectindex Subindex CANOPEN DWORD sizeof Inputs Mode Inputs Mode busy End Task 186 Jetter AG JCM 350 E03 Digital Inputs PDO Task Solution Prerequisites How it Works JetSym STX Program Programming Read in the digital inputs on the JXM IO E02 PDO is used to enter the process data to be received Initial commissioning of JCM 350 E03 has been completed This means Installation of the device is completed The device is connected via USB CAN adaptor to the PC In JetSym an active connection to the JCM 350 E03 exists First the controller JCM 350 is initialized Then it enters the process data required for reading the digital inputs by using the function CanOpenAddPDORx Please note that the I O module JXM IO E02 sends process data only on request This is achieved by the parameter CANOPEN_ASYNCPDORTRONLY Following this the JXM IO E02 is set into the state operational Now the JXM IO E02 sends the requested data Const CAN CONTROLLER 0 0 Node ID of the controller NodeID Node_0 0x7F 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
85. ds 4 Power cycle the JXM IO E02 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 access to the same JXM IO E02 Jetter AG 127 7 CANopen Objects CAN Bus Termination CAN Baud Rate CANopen Node ID CANopen Heartbeat Time Period PWM Predictor Proportional and Integrator Parameters Analog Input Mode Selection 128 This parameter selects whether the CAN termination resistors 120 Q inside the JCM 350 E03 must be activated one each at both ends of the CAN bus Valid options are 0x00 Neither resistor is enabled 0x01 Resistor at the end of the CAN bus is enabled default value 0x02 Resistor at the beginning of the CAN bus is enabled 0x03 Both resistors enabled This parameter selects the CAN Baud rate to use Valid options are 0 125 kBaud 1 250 kBaud 2 500 kBaud 3 1MBaud This parameter changes the node ID stored to the internal EEPROM With coding via tri state inputs 1 pin 67 and 2 68 enabled this parameter sets the node ID of the JXM IO E02 if neither of the tri state inputs is connected If the device is configured NOT to use th
86. e Install the device directly on the mounting surface Do not use insulating material Do not use spacers Screw the device down to the mounting surface number sent O a w Ca wee a Drws Jetter AG 57 4 Mounting and Installation Installing the JCM 350 E03 Through Holes Installing the Strain Relief 58 Screw the device down to the mounting surface Number Deseta O a sew ewe O a mane O O Ca wee Os sown O O Install a strain reliever for the connection cable Take care to leave enough space for the connector The connectors should not be obstructed so that it can be removed in the event of a service requirement i Jetter AG JCM 350 E03 Initial Commissioning 5 Initial Commissioning Introduction This chapter covers the initial commissioning of the JCM 350 E03 with the aid of the following steps Connecting the power supply and interfaces Installing and connecting a USB CAN adaptor Initial Commissioning Using the Programming Tool JetSym JCM 350 E03 The JCM 350 E03 consists of the controller JCM 350 and the I O module Configuration JXM IO E02 which are internally connected via CAN bus The CAN bus is brought out to allow communication with other CANopen nodes The default node ID of the JXM IO E02 is 16 the default node ID of the JCM 350 is 127 This way
87. e This 0x2200 through 0x2203 object is for configuring the analog inputs 1 through 4 The analog input signal can be read out as process value Index Sub Index Default Description Attributes 0x2200 0 7 Number of entries ro read only 0x2203 1 0 Not used 2 0 Functional mode rw read amp write 3 0x30 Not used 4 0 Process value 0 ro Analog input signal 5 0 Process value 1 ro Analog input signal mV 6 8 191 Parameter 0 Max ro output value 7 40 000 Parameter 1 Max ro output value Sub Index 2 The function of sub index 2 is described below Sub index 2 can be used to 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 functional mode set or reset bit 0 and bit 4 Bit 0 0 AGC disabled Bit 0 1 AGC enabled Bit 4 0 Voltage measurement Bit 4 1 Current measurement With AGC enabled the analog input will be able to measure input signals in the range of 0 40 V With AGC disabled the analog input will be able to measure input signals in the range of 0 5 V With current measurement enabled the analog input can be used for 0 or 4 20 mA current signals Effectively this mode changes the analog input s impedance to 240 Q 20 mA generates a 4 8 V signal 4 mA generates a 960 mV signal and 0 mA results in a O V input To allow for backwa
88. e ID Set this parameter to 0 in order to disable this function The default value is 1 This parameter stores an output current limit value affecting all 16 digital outputs The threshold is specified in milliamps The threshold is in the range 50 250 50 mA 250 mA The default value is 100 100 mA Jetter AG 129 7 CANopen Objects PWM Outputs No Load Threshold Frequency Input Mode Selection H Bridge Current Limit Value H Bridge No Load Threshold PWM Output Current Limit Digital Inputs IN 1 through IN 5 Initial Bias Switch Feed Output Initial State 130 When a digital output s load current is low less than 1 A measuring this current becomes inaccurate refer to section Digital Outputs Current Measurement If a threshold current of 100 mA is specified it is likely that the actual measured current is 126 mA This parameter stores an output current limit value affecting all 3 PWM outputs The threshold is specified in milliamps The threshold is in the range 10 1 000 10 mA 1 000 mA The default value is 100 100 mA No load detection is available only in static PWM duty cycle output mode no current control This parameter sets the initial functional mode for the frequency inputs at power on Please refer to the section on Frequency Input object with index 0x2600 and sub index 2 The default value is 0 selecting frequency input oper
89. e JCM 350 E03 will be disposed of If the JCM 350 E03 is sold or loaned leased out the user manual has to be passed on In any case you encounter difficulties to clearly understand this user manual please contact the manufacturer We would appreciate any suggestions and contributions on your part and would ask you to contact us by our e mail address info jetter de This will help us to produce manuals that are more user friendly and to address your wishes and requirements This user manual contains important information on how to transport erect install operate maintain and repair the JCM 350 E03 Therefore the persons carrying out these jobs must carefully read understand and observe this user manual and especially the safety instructions Missing or inadequate knowledge of the user manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating company is recommended to have the instruction of the persons concerned confirmed in writing Jetter AG JCM 350 E03 Hazard Levels Introduction Safety Labels Hazard Levels Jetter AG Introduction This topic describes the safety labels and hazard levels used in this manual Signs using this symbol are to warn you of inuries or even death It is imperative to follow the instructions to prevent hazards Safety information is classified into the following hazard levels Hazard Level Consequences Probability
90. e 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 Jetter AG 119 7 CANopen Objects H Bridge Object Index 0x2500 H Bridge Index 0x2500 The structure of the object H Bridge is shown in the following table This object is for configuring 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 Index Subindex Default Description Attributes 0x2500 emp oo Number of entries ro only C ec Functional mode rw nate amp me oo ed value 0 Current measured Process value 1 Output states duty cycle 1 023 Parameter 0 Max ro output value 7 7 Parameter 1 Bridge ro configuration Sub Index 2 The function of sub index 2 is described below a Sub index 2 can be used to select between the following modes of operation 0x01 The two output channels pins 69 and 70 are used as independent digital outputs 0x02 The output connected to pin 69 is a PWM controlled high side output whereas the output connected to pin 70 is always low 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 write the corresponding value to sub index 2 Sub I
91. e is in the range of 0 2499 mA Sub index 4 can be read to obtain the recently measured output current in mA units 116 Jetter AG JCM 350 E03 Sub Index 5 Sub Index 6 Sub Index 7 Sub Index 8 Sub Index 9 Sub Index 10 CANopen Objects The function of sub index 5 is described below Sub index 5 is used to set the PWM duty cycle The value is in the range of 0 2499 mA This value corresponds to a duty cycle between 0 100 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 The function of sub index 6 is described below Sub index 6 can be read to obtain the maximum value that can be input via Sub Index 4 The function of sub index 7 is described below Sub index 7 can be read to obtain the maximum value that can be input via Sub Index 5 The function of sub index 8 is described below In Current Controlled PWM Output mode sub index 8 is used to set the Predictor parameters 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 The function of sub index 9 is described below In Current Controlled PWM
92. e object Manufacturer Software Version is shown in the Version Object following table Index 0x100A Index Subindex Default eserition Arbus 0x100A Software version of the const application program that runs on the JCM 350 E03 The entry in this index is made via the parameter SWVersion of the STX function CanOpenlnit Node ID Object The structure of the Node ID Object is shown in the following table Index 0x100B index Subdndex Default Description Attributes 0x100B e f Own Node ID ro read only Producer Heartbeat Time The structure of the Producer Heartbeat Time Object is shown in the Object Index 0x1017 following table Description Eiaa 017 ES 000 Heartbeat time rw s amp write 98 Jetter AG JCM 350 E03 CANopen Objects 7 2 CANopen Object Dictionary for JXM IO E02 Purpose of this Chapter Supported Objects This chapter describes the CANopen objects implemented on the JXM IO E02 and their function A summary of the objects covered in this document are given in the table below There are also a few more objects which are mandatory according to the CANopen specification which are not covered in this document Code i VAR i VA 100A Manufacturer Software Version String Page 101 1017 Producer Heartbeat Time R Unsigned16 Page 101 23h Analog Input ARRAY Unsigned32 Page 110 Voltage Sense Analog Input ARRAY Unsigned3
93. e programmed limit for no load has been exceeded The module responds to this error in the following levels Level 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 Over current 0x2300 0x2307 2 E No load cable breakage Ox23A0 0x23A7 2 Jetter AG JCM 350 E03 Digital Outputs 9 Detecting the Error Root Cause of Error Response of the Module to this Error Jetter AG Protection and Diagnostic Features JXM IO E02 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 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 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 This error may be caused by the following root causes The programmed limit for over current h
94. e software running in the JXM IO E02 This read only object supplies 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 Example The 32 bit word 0x01070001 translates to a software version of 1 07 0 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 Datasheet Object on page 124 Detailed Software Version Object on page 133 Jetter AG JCM 350 E03 Mounting and Installation 4 Mounting and Installation Purpose of this Chapter This chapter is for supporting you in mounting and installing the JCM 350 E03 as regards the following points Planning the wiring of a JCM 350 E03 Connecting sensors and actuators to the JCM 350 E03 Installation CAN Bus Project Work Contents Topic Page WIM Geen Axcis Sites ice es eee dn cei E E eee 36 Installing the JCM 350 E03 ccc eccccccsececseeecseseesseeecseeesseeeceeeesseeeese
95. e tri state inputs for selecting the node ID then the value stored in this parameter will be the final node ID The value is in the range of 0x01 through 0x76 The default value is 0x10 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 The legal range for values is between 250 and 65 535 ms Time periods less than 250 ms are allowed by CANopen but do not make practical sense for the JXM IO E02 and are therefore not allowed Please refer to the section on PWM object with index 0x2400 and sub index 8 through 10 This parameter sets the initial functional mode for the analog inputs at power on Please refer to the section on Analog Input object with index 0x2200 and sub index 2 The default value is 0 selecting Voltage Measurement operation ranging from 0 to 5 V Jetter AG JCM 350 E03 Digital Outputs 1 8 STANDARD Current Limit Digital Outputs Current Measurement Digital Outputs 9 16 SAFETY Current Limit PWM Outputs Mode Selection Tri State Coding Enable Digital Outputs No Load Threshold CANopen Objects This parameter stores an output current limit value The data is in units of 100 mA i e 1 100 mA 25 2 5 A The current limit is in the range 1 30 100 mA 3 A The default value is 25 2 5 A The cu
96. e 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 and 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 Jetter AG 123 7 CANopen Objects OS Update Index 0x4554 and EDS Objects Index 0x4555 OS Update This object is used for OS updates Do not access this object Contact Index 0x4554 Jetter AG if you intend to update the operation system Electronic Data Sheet The Electronic Data Sheet EDS is provided for production and support Index 0x4555 purposes It is user readable O Doseniption tbs s string number string Day Month Year Page 1 Test device number Page 1 Test device revision Page 0 Minimum OS version A 124 Jetter AG JCM 350 E03 CANopen Objects Object System Parameters Index 0x4556 System Parameters Index 0x4556 Jetter AG 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 Note that some of these settings can also be set using other SDO objects However
97. ece eeeeeee eee teee eter eeeeeeeeeeeeaeeseneaeeeeeeeeaeeeteeaaeess 199 Analog O10 010 eee eee eee 200 AUKO 010i kt eG ee 201 FABIO QC ic Bat ieee vet eect eee heat E let ee eee tote ee oe ae 202 Switch Feed Outputs 1 2 ccc cecececeeecececeeeecece eee ee eeeeeeceaaaeceeeeeesecaaaaaeeeeeeeeesecseaeeeeeeeetennennaeees 203 Safely Switch REIAY a csasccccccecssecceedivncecsveyeagcatieacccusttyaguasheacesitiaedassiraaeeeattecaadeivaestbtvaadadteradveesstes 204 5 V Reference Output cccccccececeecceeeeceeeeeeeeeaeeeeeeeeececeaaaeeeeeeeeeseccnaaeeeeeeeeesecsceeeeeserenteesnsaeees 205 Generic Fault Detection 00 2 cee eee ee eene renee teen eae ee senate eeeeaeeeeeeaeeesecaeeeeeeieeeseeeneeeeneaes 206 Operating System Update 207 Updating the Operating System of the Controller cccsssseeecesseneeeeeeeeeeeeseeeeeeeseeneeenseeeenss 208 Operating System Update Using JetS ym eessesssrresesrnanssnnseeennaanannanttnnaanannnneenaanannnaaennnaananaa nee 209 Application Program 211 Loading an Application Progra serenus innein EEE EREEREER 212 Application Program Default Path ccccccecesecneceeeeeeeeeecencaeeeeeeeseseaaeceseseeeesessncaeeeeeeeenensaees 213 Quick Reference JCM 350 215 219 Weeh nicalD atte ai icsscee cs cccceccdencet ce caceeccedeszegcccisccesadandaynedaccscedsasiececvecus tedsnzansdsaadeasedsnuieceeveseeseetnsied 220 Technical SPECI CATIONS i sas daa sst anacevancedadanncdpedceswedeadencdceasandud
98. ed inside the module JXM IO E02 are no longer synchronized Detection of this fault is not currently implemented but it can be added in the near future The module responds to this error in the following levels The module will send a CANopen emergency object to the controller Error Type Internal Communication Failure Parameter Mismatch 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 Code Error Register 0x5002 0x6300 5 z 206 Jetter AG JCM 350 E03 Operating System Update 11 Operating System Update Introduction Downloading an Operating System Mobile Controllers Contents Jetter AG Jetter AG are continuously striving to enhance the operating systems for their controllers and peripheral modules Enhancing means adding new features upgrading existing functions and fixing bugs This chapters describes how to perform an operating system update for a system equipped with a JCM 350 E03 controller You can download operating systems from the Jetter AG homepage at www jetter de http www jetter de You get to the OS files by clicking on the quick link Operating System Download located on the website of the corresponding controller or module The operating system of the following mobile controllers can be updated Controller JCM 350 E03 Top
99. eeeeeeaeeeeeeaeeeeenaeeeeseaas 24 Versi n REGISICMS uiies ies epindeapitece hehe eatin ERa E a 29 Identifying a JXM IO E02 via CAN BUS eeeecceeeeeeeeeeeeeeeeeeenaeeeeeenaeeeeneaas 33 21 3 Identifying the Controller 3 1 Identification by Means of the Nameplate Introduction The nameplate is attached to the housing of the JCM 350 E03 and contains details such as hardware revision number and serial number You will need this information when contacting the Jetter AG hotline in case of a problem Contents Topic Page Nameplates suoranainen a ae aa aa 23 22 Jetter AG JCM 350 E03 Identifying the Controller Nameplate Nameplate The nameplate of a JCM 350 E03 contains the following information Z Py 3 SJN 20110117090009 Jetter iii JCM 350 E03 G06 K00 Le aco Description Controller type Serial number Part number Hardware revision Jetter AG 23 3 Identifying the Controller 3 2 Electronic Data Sheet EDS Introduction Contents 24 The controller JCM 350 E03 features an electronic data sheet EDS Numerous production relevant data are permanently stored in the EDS The EDS data can be read out via files in the file system of the controller or via special registers Topic Page EDS Fil edsin eannan anaa a aa 25 EDS Rog oti S tacecvi sieceeyyecczecvynncuevbabesenevpetasyeeengetepbeaciesbebaguniearoctueebeentieerni 27 Jetter AG JCM 350 E03 ED
100. eeeeeeeeeeeeeeeeeeeeeteees 152 STX Function SAEJ1939GetDM 1 cece cseeeeeesneeeeeeseeeeeesseeeeseneeeeeea 155 STX Function SAEJ1939GetDM 2 eeecccccnneecesneeeeeeseneeeeesnneeeeesnteeeeees 158 STX Function SAEJ1939SetSPNConversion ccccceeeeeeceeceeeeeeeeeees 161 STX Function SAEJ1939GetSPNConversion ccceceeeeeeecceeeeeeeees 162 139 8 SAE J1939 STX API Content of a J1939 Message Content of a J1939 The following diagram shows the content of a J1939 message Message Extended Data Page Data Page PDU Format _DA GE 0Oh EFh DA Foh FFh GE Abbreviation Description DA Destination Address GE Group Extensions PGN Parameter Group Number SA Source Address Meaning of the The PGN is a number defined in the SAE J1939 standard that groups together Parameter Group several SPNs into a meaningful group The PGN is part of the CAN identifier Number PGN The 8 byte data PDU contain the values of individual SPNs The example below shows a PGN 65262 OxFEEE PGN 65262 Engine Temperature 1 ET1 is Data Page PDU Format 254 PDU Specific 238 Default Priority Parameter Group Number in hex OxFEEE PGN Supporting Information 140 Jetter AG JCM 350 E03 SAE J1939 STX API Engine Coolant Temperature Engine Fuel Temperature 1 Engine Turbocharger Oil Temperature Engine Intercooler Temperature Engine Intercooler Thermostat Opening 1134
101. eeeeeeeeeeeeeeeeeneeeeeeees 198 Digital Outputs 9 16 Safety Outputs ee eee eeeeeeeeeeeeeeeteeeeeeeeeeeees 199 Analog OUUU reren a AE E AEEA A i a 200 PWM Outputs Tio 3 iiinn a a aaa a ea s ea 201 Fi Br ccairt a OE NEE A E E 202 Switch Feed Outputs 1 2 ececcccccecceeeeeeceecee eee eeeeeeeeeaeeeeeeeeesessanaeeeeeeeres 203 Safety Switch Relay 0 ccsccceseeceeeeeseeeeceeeeeceeeeseaeeseaeeseeeeeseeaeeneneesseeens 204 5 V Reference Output cccccccccececeeeeeeceeaeeeeeeeeeeeaeeeeeeeeeseeeenenaeeeeeseees 205 Generic Fault Detection coneis nees NONE EARS 206 195 10 Protection and Diagnostic Features JXM IO E02 Standard Feed Power Input STANDARD FEED Detecting the Error Root Cause of Error Response of the Module to this Error Fixing the Root Cause The input currenton 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 This error may be caused by the following root causes The maximum current of 30 A has been exceeded The time limit for overcurrent has been exceeded The module responds to this error in the following levels The module will send a CANopen emergency object to the controller 2 The module will block the function that has caused the error
102. eeesas 53 Jetter AG 35 4 Mounting and Installation 4 1 Wiring Purpose of this Chapter Contents 36 This chapter covers wiring of the JCM 350 E03 and contains the following topics Wiring principle Pin Assignment Example of Wiring Technical Specifications Topic Page Wiring Principle 0 00 0 eee cence erence eee eeneee ee eneeeeetaeeeesnieeeeeesaeeeeeeiieeeessneeeenea 37 Example of Wiring Layout ee eee eeeneeeeeeeeneeeeeeaeeeeeenaeeeeeeeeeeeeenaeeeeeeaas 38 Connecting the Power Supply and the 5 V Output ccccccsesceeesteeeeeeees 39 CAN Interface and Node ID eirian aaan AA dadaaeetaaee 41 Specification CANopen Bus Cable ccccccccsecceesssteeeeessneeeeeesteeeeseaes 43 Connecting Digital Inputs and Outputs 0 eee eeeteeeeneeeeeeeeeteeeeeeneeeeeeaes 45 Connecting Analog Inputs and Outputs 0 eee eeeeeee eee eeeeeeeteeeeeeneeeeeeaes 50 Jetter AG JCM 350 E03 Wiring Principle Introduction Wiring Principle Connector Specification Example Mounting and Installation This chapter covers the wiring principle of the JCM 350 E03 The JCM 350 E03 is connected through a wiring harness with external components such as Power Supply a Controller Peripheral Module Sensors Actuators a Indicator Lights The wiring harness ends in a connector which is not included in the scope of delivery of the device This connector is available as ac
103. emented by variable Cnt3 5 every second Present content of the The content of the variable is incremented by variable Cnt4 10 every second Jetter AG 171 9 Programming Special Registers Introduction Special registers are used to control OS functions and to retrieve status information Properties Global variables assigned to permanent addresses VL When the operating system is launched special registers are initialized using default values Register numbers 100 000 through 999 999 Memory Access By JetSym From within the application program 172 Jetter AG JCM 350 E03 Flags Introduction Properties of User Flags Properties of Overlaid User Flags Properties of Special Flags Memory Access JetSym STX Program Jetter AG Programming Flags are 1 bit operands This means they can either have the value TRUE or FALSE Global variables assigned to permanent addresses MX Non volatile Quantity 256 Flag numbers 0 through 255 Global variables assigned to permanent addresses MX Non volatile Overlaid by registers 1000000 through 1000055 Quantity 1 792 Flag numbers 256 through 2047 Global variables assigned to permanent addresses MX When the operating system is launched special flags are initialized using default values Quantity 256 Flag numbers 2048 through 2303 By JetSym From within the application program In the following p
104. enSetCommand on page 72 71 6 CANopen STX API STX Function CanOpenSetCommand Introduction By calling up the CanOpenSetCommand function the own heartbeat status and the heartbeat status for all other devices NMT slaves can be changed on the CAN bus Function Declaration Function CanOpenSetCommand CANNo Int iType Int Value Int skint Function Parameters The CanOpenSetCommand function has the following parameters Parameter Description CANNo CAN channel number Command selection CAN_CMD_HEARTBEAT Only the own heartbeat status is changed CAN_CMD_NMT The heartbeat status is changed for all other devices or for a specific device on the CAN bus Value Selection of the heartbeat status for command CAN_CMD_HEARTBEAT CAN_HEARTBEAT_STOPPED 0x04 CAN_HEARTBEAT_OPERATIONAL 0x05 CAN_HEARTBEAT_PREOPERATIONAL 0x7F Selection of the heartbeat status for command CAN_CMD_NMT NMT master CAN_NMT_OPERATIONAL 0x01 or CAN_NMT_START 0x01 CAN_NMT_STOP 0x02 CAN_NMT_PREOPERATIONAL 0x80 CAN_NMT_RESET 0x81 CAN_NMT_RESETCOMMUNICATION 0x82 Note The command CAN _CMD_NMT is selected via the macro function CAN_CMD_NMT_Value NodelD CAN_CMD_NMT Values from 0 to 127 are permitted for the node ID parameter 1 to 127 is the node ID for a specific device If the command should be sent to all devices on the CAN bus the parameter CAN_ CMD_NMT_ALLNODES 0 is used 72 Jetter AG JC
105. eneadte dean aedunta aadieenyatdnaiaatdiadesuandeedsh as 221 Physical DIMCNSIONS 225e vesdecesi tenders eieatanaysteeesyenlel ea el ddecivedluraveietaneneaedeleahpaueeeaater be vaameer E 226 Operating Parameters Environment and MeChanics ccccceceeeeneeeeeeeeneeeeseenaeeeeeenaeeeeenaees 228 Operating Parameters EMC 2 ivsicnswiece iini nein eeve AE A lived peeves 229 WING OX seesicccccscccececsocetecs cacuete cesceseessccsncdssedetiasscctenasseccevesscccuces sedenedssdeiedessaacevesseauediessteiiiasacieiaessiianiis 230 JCM 350 E03 Safety Instructions 1 Safety Instructions Introduction This chapter contains the general safety instructions and warns of possible residual dangers Contents This chapter contains the following topics Topic Page General Safety Instructions cceccceceeeceseeeeeeeeeeeaeeeseeeeeeeeteaeessaeeeseneeeeas 12 Residual Dangers and Protective Measures cccccceeeeeceeeeeeeeeeeteeneees 14 Jetter AG 11 1 Safety Instructions General Safety Instructions Introduction This device complies with the valid safety regulations and standards Special emphasis was given 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 Usage according to the intended conditions of use implies operation in U
106. equestPGN 1 0x00 OxFEES 5 JetSym STX Program JCM 350 E03 with own SA of 20 wants to request the PGN 65253 Engine Hours from an engine control unit with the SA 0 The SPN 247 Engine Total Hours of Operation should be read from this PGN It is therefore necessary to register receipt of the SPN 247 by calling up the function SAEJ1939AddRx The parameter byPriority is not explicitly specified when calling up the function In this case the default value is used Include SAEJ1939 stxp Var bySAEJ1939Channel Byte own Source Address Byte PGN 65253 Engine Hours Revolutions EngineTotalHours Int EngineHoursTbl TJ1939Rx End Var Task main autorun Initializing CAN 1 Jetter AG 153 8 SAE J1939 STX API bySAEJ1939Channel 1 own Source Address 20 SAEJ1939Init bySAEJ1939Channel own Source Address Engine Hours Revolutions on Request SAEJ1939AddRx bySAEJ1939Channel 65253 0x00 1 0 SAEJ1939 DWORD sizeof EngineTotalHours EngineTotalHours EngineHoursTbl 5000 150 Required for a cyclical task TaskAllEnableCycle EnableEvents End Task Task t_RequestPGN 5000 cycle 5000 Var Return value Int End Var Request total machine operating hours Return value SAEJ1939RequestPGN bySAEJ1939Channel 0x00 65253 If Return_value Then Trace PGN Request failed End If End Task 154 Jetter AG JCM 350 E03 SAE J1939 STX
107. ers 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 From the controller point of view the following data on the JXM IO E02 can be accessed via the macro PDO1_ TX 0x200 node ID Byte Offset Index Size byte Description Sub index 0 0x2101 05 2 Digital outputs 2 0x2103 05 1 Switch feed outputs From the controller point of view the following data on the JXM IO E02 can be accessed via the macro PDO2_TX 0x300 node ID Byte Offset Index Size byte Description Sub index 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 duty 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 From the controller point of view the following data on the JXM IO E02 can be accessed via the macro PDO3_ TX 0x400 node ID Byte Offset Index Size byte Description Sub index 0 0x2300 04 2 Analog output voltage 2 0x2300 05 2 Analog output current 138 Jetter AG JCM 350 E03 SAE J1939 STX API 8 SAE J1939 STX API Introduction The SAE J1939 Standard
108. ets the PWM duty cycle at PWM output 1 as requested 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 busy Int SW_Version String PWM Mode Long PWM Value Long Objectindex Word Subindex Byte End Var 193 9 Programming Task Main Autorun Software version of the controller SW Version v4 3 0 Mode PWM Mode 0x02 Init PWM PWM Value 150 Initializing CAN 0 CanOpenInit CAN CONTROLLER 0 NodeID Node_0 SW_Version SDO Objectindex 0x2400 Subindex 2 Mode CanOpenDownloadSDO CAN CONTROLLER 0 NodeID Node _ 1 Objectindex Subindex CANOPEN DWORD sizeof PWM Mode PWM Mode busy PWM Value CanOpenAddPDOTx CAN CONTROLLER 0 CANOPEN PDO2 TX NodeID Node 1 2 CANOPEN WORD sizeof PWM Value PWM Value Event Time Inhibit Time CANOPEN ASYNCPDORTRONLY E All devices on the CAN bus have the status of PREOPERATIONAL Setting all devices on the CAN bus to OPERATIONAL status CanOpenSetCommand CAN CONTROLLER 0 CAN CMD _ NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN NMT START End Task 194 Jetter AG JCM 350 E03 Protection and Diagnostic Features JXM IO E02 10 Protection and Diagnostic Features JXM IO E02 Purpose of this Chapter Prerequisites Backgr
109. etter AG The structure of the object Device Type is shown in the following table eae eo eee a 0x1000 jo 0x0000012D ro read only The structure of the object Error Register is shown in the following table Index Subsndex Default Description Atiibutes 0x1001 o if Error Register ro read only This object implements the CANopen Error Register functionality Bit 0 Generic error None of the other bits are currently in use The structure of the object Pre Defined Error Field is shown in the following table Indo Subindox Dotat Desorption Attributes 0x1003 Number of errors entered in the Array s Standard Error Field 1 Most recent error ro read only 0 indicates no error This object shows a history list of errors that have been detected by the JCM 350 The maximum length of the list is 254 errors The list content is deleted on restart Composition of the Standard Error Field 2 byte LSB Error Code 2 byte MSB Additional information 97 7 CANopen Objects Manufacturer Device The structure of the Manufacturer Device Name Object is shown in the Name index 0x1008 following table Indo Subindox Detaut Description Attributes Manufacturer Hardware The structure of the Manufacturer Hardware Version Object is shown in the Version Object following table Index 0x1009 Description aiaa mn version of the e device Manufacturer Software The structure of th
110. g Configuring the H Bridge 199 Configuring the PWM Output 202 Reading In Digital Inputs 194 Setting Digital Outputs 189 Protective Features 205 Q Quick Reference 225 R Repair 12 Runtime Registers 184 S SAE J1939 STX API 145 Safety Instructions 11 Software Version 30 139 Specification CAN Bus Cable 45 System Parameters 131 T Technical Data 231 Transport 12 U Usage Other Than Intended 12 230 Jetter AG Jetter Subsidiaries Jetter Switzerland AG Munchwilerstrasse 19 CH 9554 Tagerschen Switzerland Great Britain U S A Phone 41 71 91879 50 Phone 44 1865 883346 Phone 1 727 532 8510 Fax 41 71 91879 69 Fax 44 1865 883347 Fax 1 727 532 8507 E Mail info jetterag ch E Mail info jetter uk com E Mail bschulze jetterus com Internet http www jetterag ch Internet http www jetter uk com Internet http www jetter de 232 Jetter AG Jetter Jetter AG Graeterstrasse 2 D 71642 Ludwigsburg Germany Phone 49 7141 2550 0 Phone Sales 49 7141 2550 433 Fax Sales 49 7141 2550 484 Hotline 49 7141 2550 444 Internet http www jetter de E Mail sales jetter de Jetter UK Ltd Old Witney Road Eynsham OX29 4PU Witney Jetter USA Inc 13075 US Highway 19 North Florida 33764 Clearwater
111. h OUT 15 In sub index 4 each bit is assigned to a channel Bit 0 Channel 1 IN 6 or OUT 1 Jetter AG 105 7 CANopen Objects Bit 1 Channel 2 IN 7 or OUT 2 Bit 14 Channel 15 IN 20 or OUT 15 Bit 15 Channel 16 IN 21 or OUT 16 fa universal I O is used as digital input the related digital output must be disabled OFF Sub Index 5 The function of sub index 5 is described below Sub index 5 can be used to set or reset the digital outputs OUT 1 through OUT 16 In sub index 5 each bit is assigned to a channel Bit 0 Channel 1 OUT 1 Bit 1 Channel 2 OUT 2 Bit 14 Channel 15 OUT 15 Bit 15 Channel 16 OUT 16 Depending on the bit value the output state is as follows 0 Output state is OFF 1 Output state is ON Sub Index 6 Sub index 6 can be read to obtain the number of available inputs outputs In this case 16 inputs outputs are available 106 Jetter AG JCM 350 E03 CANopen Objects Tri State Inputs Object 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 The System Parameters object index 0x4556 sub index 38 allows disabling the Tristate Coding Enable f
112. h OUT 16 Can be switched off by electronic safety Yes switch HBO UG E Yt amp Pi scription 30 Switch feed output 1 34 Switch feed output 2 48 Jetter AG JCM 350 E03 Mounting and Installation PWM Outputs Pe serpfon se Pwo se PwMowus O 59 cromare pwo OO eo romare PWM ouo e romare PWM ouo O Technical Data PWM nE Outputs Operating Modes m Current controlled output PWM output with static duty cycle Dither function Yes at PWM freq 2 kHz Jetter AG 49 4 Mounting and Installation Connecting Analog Inputs and Outputs Introduction Analog Output Technical Data Analog Output The following diagrams show the pin assignment of the connector view from the front GO YY amp H ed E bs E bd ey Pin Description 25 Ground Analog output 53 Analog Output Parameter Description Voltage range at 50 mA 0 STANDARD FEED Current range 0 100 mA Resolution 10 bits Electrical isolation none Short circuit detection Yes Analog Inputs G Bjarmann 6 328g Pin Description 26 Ground Analog input 1 27 Ground Analog input 2 28 Ground Analog input 3 29 Ground Analog input 4 49 Analog input 1 50 Analog input 2 51 Analog input 3 52 Analog input 4 50 Jetter AG JCM 350 E03 Mounting and Installation Analog Inputs arameter escription Voltage range m 0 5V 0 IGNITION FEED Current range 0 20mA am 4 20mA Input impedance at 0 5 V 100 K
113. he USB CAN adaptor 3 Make sure that there is a terminating resistor of 120 Q at both ends of the CAN bus 4 Energize the power supply Make sure that the ignition is on Otherwise the controller will not work Result Now the controller is operational To allow programming it can be connected with the USB CAN adaptor The following USB CAN adaptors are supported by the programming tool JetSym IXXAT Automation GmbH http www ixxat de http www ixxat de The list of currently supported hardware can be found on the website of IXXAT Automation GmbH We support the following driver versions VCI version 3 3 and VCI version 2 18 PEAK System Technik GmbH hitp www peak system com http www peak system com The list of currently supported hardware can be found on the website of PEAK System Technik GmbH We support the following driver versions Version 3 5 4 9547 or higher 60 Jetter AG JCM 350 E03 Initial Commissioning Installing the USB CAN Prerequisites Adaptor Before installing the USB CAN adaptor JetSym 4 3 or higher must be installed on the PC to be used To install the adaptor proceed as follows a Insert the USB CAN adaptor into a USB port of your PC 2 If the Hardware Wizard opens close it 3 Install the driver for the USB CAN adaptor Install the corresponding JetSym driver depending on the USB CAN adaptor used thom you use an adaptor by proceed with step 5 PEAK Systems you do not
114. he following registers can be read to obtain the hardware revision 108021 Hardware revision CPU board 200170 Controller type Version Numbers in The following screenshot shows a JetSym setup window displaying the JetSym Setup version registers F Versionsstxs stxs JCM 350 V1 04 00 134 JETCAN 1 1 127 MBK omment 108021 1 200170 29 Related Topics Software Versions on page 31 30 Jetter AG JCM 350 E03 Identifying the Controller Software Versions Introduction The controller JCM 350 features software with unique version numbers which can be read out via special registers Format of Software The software version number of the JCM 350 E03 is a four figure value Esse esas a a Major or main version number Version Numbers i a2 Minor or secondary version number a ae Branch or intermediate version number Released Version A released version can be recognized by both Branch and Build having got value zero Overview of Registers The following registers are used for reading out software versions 10001 Version othe executan unit for tne STX appleaton program Version Numbers in The following screenshot shows a JetSym setup window displaying version JetSym Setup registers For displaying the version number in the setup window of JetSym please select the format IP address 200169 210001 Number Content Deseripton V 1 04 00 134 OS version of the controller JetSym displays this
115. he 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 JCM 350 E03 contains electrostatic sensitive components which can be damaged if not handled properly To exclude damages to the JCM 350 E03 during transport it should only be shipped in its original packaging or in packaging protecting against electrostatic discharge This is particularly true for transport via mail Use an appropriate outer packaging to protect the JCM 350 E03 against impact or shock Incase of damaged packaging inspect the device for any visible damage Inform your freight forwarder and the manufacturer if applicable When storing the JCM 350 E03 observe the environmental conditions given in the technical specification This device must not be repaired by the operators themselves The device does not contain any parts that could be repaired by the operator The device must be sent to Jetter AG for repair When disposing of devices the local environmental regulations must be complied with Jetter AG 13 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
116. hes the controller type If it does not match the type open the configuration dialog and re select the controller Check whether a Baud rate of 250 kBaud is set If not set it to 250 kBaud Interface If you don t know the node ID of your controller scan the CAN bus for nodes Type Node ID 127 Timeout 4000 Bovdrate Deyiceldx 1 Interface Idx 1 Mores Select the hardware that has been found as a result of the scan Then select the controller that has been found as a result of the Jetter Controllers detected scan _ Selecting CAN Interface Wi Result The node ID of the controller is automatically entered into the corresponding box of the configuration mask Jetter AG JCM 350 E03 Initial Commissioning Error message 2 A Cannot connect to controller Unknown Jet32Can error 8 Possible Fix for this Problem Cause Wrong Baud rate Check whether a Baud rate of 250 kBaud is set Where necessary restart JetSym Enter the correct Baud rate and check the connection Interface ATTENTION If this error message is displayed after the restart of JetSym re boot your PC Jetter AG 65 5 Initial Commissioning Initializing the Proceed as follows to create a simple and executable program for initializing JCM 350 E03 the JCM 350 E03 Switch to Files view Files E Workspace JCM350_Ba S JCM350_BA files gt Program H JCM350_BA step Include E Declaration a Setup
117. ic Page Updating the Operating System of the Controller cceeeeeeeees 208 207 11 Operating System Update 11 1 Updating the Operating System of the Controller Introduction This chapter describes how to update the OS of the controller JCM 350 E03 To transfer the OS file to the controller the following options are available Using the OS update feature of the programming tool JetSym Contents Topic Page Operating System Update Using JetSym cccceceeeeeececeeeeeeeeeeseeeeeeeees 209 208 Jetter AG JCM 350 E03 Operating System Update Operating System Update Using JetSym Introduction The programming tool JetSym offers an easy way to transfer an OS file to the JCM 350 E03 Prerequisites An OS file for the JCM 350 E03 must be available An active CAN connection between JetSym and the controller is set up During booting the controller is waiting for the OS update or the OS is already running Make sure that the controller is not de energized during OS update Updating the OS To update the OS proceed as follows In JetSym click on the menu Build and select item Update OS or click in the configuration window of the Hardware Manager on OS Update Result The file selection box opens Launch the OS upload by clicking the button Yes Wait until the update process is completed Reboot the controller to launch the updating operating system Select the new OS file here Result
118. ies Memory Access JetSym STX Program Setup Pane 170 Non volatile variables are used to store data which must be maintained when the controller is de energized Global variables assigned to permanent registers RL Variables are stored in a compact way Size 120 000 bytes Register numbers 1 000 000 through 1 005 999 By JetSym From within the application program In the following program 4 non volatile variables are incremented every second The working range of the counters is between 0 and 255 variable type byte For these 4 variables the 4 bytes of register 1000010 are used Var Canti Cnt2 Cnt3 Cnt4 End Var Byte At RL 1000010 Task Count4 Autorun Loop Tne Cnel Ine Cnt2 2 CE3 3B 7 Inc Cnt4 10 Delay T 1s End_ Loop End_Task Inc The JetSym setup pane displays the content of the variable As the type of the 4 counters is byte this will result in counter overflow after a relatively short time JETIP 192 168 EEK Ay JC xxx Manual stxs JC XXX v1 VEE 00 0 07 7 JETIP 192 168 T i 1000010 10 1000010 20 Description Number Content Present content of the The content of the variable is incremented by variable Cnt1 1 every second Present content of the The content of the variable is incremented by variable Cnt2 2 every second Jetter AG JCM 350 E03 Programming Present content of the content of the variable is incr
119. ignal is measured Index index Sub Index Index 0x2600 0x2601 Deserto arutas Number of entries ro read only Functional mode rw read amp write C Process value 0 Period length ns Process value 1 Digital input state OxFFFFFFFF Parameter 0 ro Frequency maximum value Sub Index 2 The function of sub index 2 is described below ee ee The functional mode is selected in sub index 2 by entering the following values 0 Frequency input mode no pull up pull down resistor a 1 Digital input active low 2 Digital input active high 3 Frequency input with pull up resistor 4 Frequency input with pull down resistor Reading sub index 2 returns the current functional mode Sub Index 4 The function of sub index 4 is described below In frequency input mode sub index 4 can be read to obtain 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 18 cycles of the external signal 122 Jetter AG JCM 350 E03 CANopen Objects Sub Index 5 The function of sub index 5 is described below In digital input mode sub index 5 can be read to obtain the current state of input pin 54 or 55 The following values are possible 0 Input state OFF 1 Input state ON Sub Index 7 The function of sub index 7 is described below Th
120. in the corresponding life cycle Product Life Cycle Minimum Qualification Transport Storage Trained and instructed personnel with knowledge in handling electrostatic 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 knowledge 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 12 Jetter AG JCM 350 E03 Modifications and Alterations to the Device Transport Storing Repair and Maintenance Disposal Safety Instructions Product Life Cycle Minimum Qualification Decommissioning Specialized personnel with training in 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 are not tested on our part and are therefore not released by Jetter AG The installation of such parts may impair the safety and t
121. is 1 ms Any unused bytes of a telegram are sent as null Function CanOpenAddPDOTx CANNo Int CANID Int BytePos Int DataType Int DataLength Int const ref VarAddr EventTime Int InhibitTime Int Paramset Int Int The CanOpenAddPDOTx function has the following parameters CANNo CAN channel number 0 CANMAX CANID CAN identifier 11 bit 0 OX7FF CAN identifier 29 bit 0 OxX1FFFFFFF sent DataType Data type of data to be sent 2 13 15 27 DataLength Volume of data for the global variable VarAddr VarAddr Global variable into which the value to be sent is entered EventTime Time lag between two telegrams gt Inhibit Time InhibitTime Minimum time lag between two telegrams sent lt EventTime Jetter AG 89 6 CANopen STX API Return Value Parameter CANNo Parameter CANID 90 The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters 3 DataType is greater than DataLength 4 insufficient memory The value of the CANMAX parameter depends on the device The following table provides information on this point BTM 011 JCM 350 JCM 620 The CANID parameter is used to transfer the CAN identifier The CAN identifier is generated with a macro The CAN identifier depends on the node ID of the other communicating user and on whether it is a PDO1 PDO2 PDO3 or PDO4 message Macro defini
122. is output by using PDO Contents Topic Page Configuring the PWM Output 1 by Using SDO and PDO sssi 193 192 Jetter AG JCM 350 E03 Programming Configuring the PWM Output 1 by Using SDO and PDO Task Solution Prerequisites How it Works JetSym STX Program Jetter AG A PWM signal with a static duty cycle is to be output at PWM output 1 First SDO is used to access the object PWM and to select the operating mode Then a PWM signal with a static duty cycle is output at PWM output 1 by means of PDO Initial commissioning of JCM 350 E03 has been completed This means Installation of the device is completed The device is connected via USB CAN adaptor to the PC In JetSym an active connection to the JCM 350 E03 exists The program has two main functions The program first accesses the object PWM with index 0x2400 and sub index 2 by means of the CANopen STX API function CanOpenDownloadSDO The value 0x02 is entered into sub Index 2 to select the output mode In this mode a PWM signal with static duty cycle is output Then the CANopen STX API function CanOpenAddPDOTx is used to set the PWM duty cycle of PWM output 1 Please note that the I O module JXM IO E02 receives process data on the CAN bus only on request This is achieved by the parameter CANopen_ASYNCPDORTRONLY Following this the JXM IO E02 is set into the state operational Now the JXM IO E02 receives the data in question and s
123. isters 500 and 501 The contents of the selected EDS are then displayed in the following registers 0 Controller eds ini eds ini Functional group ni 1 JXM modules cwesot IDENTIFICATIO Version Module name or controller name cos MR 700 PRODUCTION Version Version of this section MR 701 to SerNum Serial number MR 707 MR 805 STX Runtime environment for application program omeo MR 602 to MR 612 a glg So 2 8 3 oO lt Jetter AG 27 3 Identifying the Controller Registers Section in Name in Description eds ini eds ini MR 810 MR 806 _ NVRegs Number of remanent registers Related Topics EDS File eds ini on page 25 28 Jetter AG JCM 350 E03 Identifying the Controller 3 3 Version Registers Introduction Contents Jetter AG The operating system of the JCM 350 E03 provides several registers which can be used to read out the version numbers of the OS and its components You will need this information when contacting the hotline of Jetter AG in case of a problem Topic Page Hardware ReVISIONS 0cc cccccccccceeeccccsceeeeeeeeeeesueeseessuuuseseeseeeeeeeseesanaeeeeanas 30 Software VERSIONS vaecccstieneseccsiscuesdheevtahancaentdohcausabcdneiedcetvebacenesbdenedesetoewmenne 31 29 3 Identifying the Controller Hardware Revisions Introduction The controller JCM 350 features special registers which can be used to identify the hardware Overview of Registers T
124. it ID of the execution unit being processed Desired total cycle time in us Calculated total cycle time in us Maximum time slice per task in us Task ID for register 210061 Task priority for the task reg 210060 Length of scheduler table Index in scheduler table Task ID in scheduler table Task ID for register 210071 Timer number 0 31 Manual triggering of a timer event bit coded End of cyclic task task ID Command for cyclic tasks Number of timers Timer number for register 210077 Timer value in milliseconds Task state Task programm address Task ID of a cyclic task for register 210601 Processing time of a cyclical task in per mil figure Task lock timeout in ms 1 Monitoring disabled Timeout bit coded bit 0 gt timer 0 etc File System Data File Function 312977 312978 Status of file operation Task ID Application Registers 1000000 JC 350 32 bit integer or floating point number 1005999 permanent Special Flags Interface Monitoring 2088 OS flag JetIP 2089 User flag JetIP 2090 OS flag SER 2091 User flag SER 2098 OS flag debug server 2099 User flag debug server 32 Combined Flags 203100 0 31 203101 32 63 203102 64 95 203103 96 127 203104 128 159 203105 160 191 203106 192 223 203107 224 255 16 Combined Flags 203108 0 15 203109 16 31 203110 32 47 203111 48 63 203112 64 79 203113 80 95
125. itoring SER Configuration 203005 Interface monitoring Debug server From file system config ini 101100 IP address 101101 Subnet mask Jetter AG 215 13 Quick Reference JCM 350 203100 203107 203108 203123 203124 203131 203132 203147 209700 209701 209739 32 bit overlaying Flag 0 255 16 bit overlaying Flag 0 255 32 bit overlaying Flag 2048 2303 16 bit overlaying Flag 2048 2303 System logger Global enable Enabling system components Application Program 210000 210001 210004 210006 210007 210008 210009 210011 210050 210051 210056 210057 210058 210060 210061 210063 210064 210065 210070 210071 210072 210073 210074 210075 210076 210077 210100 210199 210400 210499 210600 210601 210609 210610 Application program is running bit 0 1 JetVM version Error register bit coded Bit 1 Error on JX3 bus Bit 2 Error on JX2 bus Bit 8 Illegal jump Bit 9 Illegal call Bit 10 Illegal index Bit 11 Illegal opcode Bit 12 Division by 0 Bit 13 Stack overflow Bit 14 Stack underflow Bit 15 Illegal stack Bit 16 Error when loading application program Bit 24 Timeout cycle time Bit 25 Timeout task lock Bit 31 Unknown error Highest task number Minimum program cycle time Maximum program cycle time Current program cycle time Current task number Current program position within a execution un
126. lag by writing O to it Tri State Inputs The structure of the object Tri State Inputs is shown in the following table Index 0x2102 Read this object to obtain the states of the tri state inputs The object Tri State Inputs is read only Index Sub Index Default Description Attributes 0x2102 0 6 Number of entries ro read only 1 0 Not used 2 0 Not used 3 1 Not used 4 0 Process value 0 Input ro states 5 0 Process value 1 Unused 6 5 Parameter 0 Number ro of Inputs Sub Index 4 The function of sub index 4 is described below Sub index 4 can be read to obtain 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 3 2 Tri state input 2 pin 68 For each input the following values can be returned Qb00 Tri state not connected 0b01 Input state OFF 0b10 Input state ON 0b11 Not used Sub Index 6 Sub index 6 can be read to obtain the number of available inputs In this case two inputs are available Jetter AG 107 7 CANopen Objects Calculating the Node ID The following table shows the effective node ID given that the default base ID Based on Tri State Input of 0x10 is used State NotGomeced ON oF ON NCard OM OO Co
127. lt CanOpenDownloadSDO 0 68 0x1017 0 CANOPEN_WORD sizeof var Heartbeat time var _Heartbeat_time busy Jetter AG JCM 350 E03 JetSym STX Program CANopen STX API In the following example the heartbeat time is entered in the CANopen Object Directory of the device with the addressed node ID Include CanOpen stxp Const CAN no CAN CONTROLLER 0 Node ID Node 1 NodeID Node_0 10 Node ID Node 2 NodeID Node _1 68 End Const busy Int Heartbeat time Int Objectindex Word Subindex Byte End Var Task main autorun Var SW Version String End Var 0 SW_ Version v4 3 0 2004 Initialization CAN 0 CanOpenInit CAN CONTROLLER 0 NodeID Node 0 SW Version Set device with the node ID NodeID Node_1 on the CAN bus to PREOPERATIONAL status CanOpenSetCommand 0 CAN CMD NMT Value NodeID Node 1 CAN CMD NMT CAN NMT PREOPERATIONAL Change heartbeat time of the addressed device per SDO Objectindex 0x1017 Subindex 0 CanOpenDownloadSDO CAN CONTROLLER _0 NodeID Node _ 1 Objectindex sizeof Heartbeat_time Heartbeat _ time Subindex CANOPEN WORD busy When SDOACCESS FINISHED busy Continue If SDOACCESS ERROR busy Then Troubleshooting End If Jetter AG 81 6 CANopen STX API Reset all devices on the CAN bus to OPERATIONAL s
128. ly been designed for use in the harsh environment of commercial vehicles and mobile machines JCM 350 E03 The JCM 350 E03 consists of the controller JCM 350 and the I O module Configuration JXM IO E02 which are internally connected via CAN bus The CAN bus is brought out to allow communication with other CANopen nodes The default node ID of the JXM IO E02 is 16 the default node ID of the JCM 350 is 127 This way both components within the JCM 350 E03 can be addresses separately Product Features The features of this product are listed below a CANopen node with 1 or 2 interfaces to CAN 2 0B 16 digital active high inputs 10 digital active high outputs supplying up to 2 5 A 6 digital active high outputs supplying up to 5A 5 digital inputs which can be configured as active high or active low inputs 1 analog output resolution 8 bits 4 analog inputs voltage current resolution 10 bits 2 frequency inputs 5 Hz 20 KHz resolution 10 Hz 3 PWM outputs 2 5 A max 1 H bridge 2 5 A max 2 tri state inputs for setting the node ID Powerful programming language JetSym STX Non volatile registers 6 000 RAM memory 16 MBytes Flash memory 16 MBytes Realtime clock without buffer 16 Jetter AG JCM 350 E03 Product Description and Design Parts and Interfaces Introduction This chapter describes the parts and interfaces of the JCM 350 E03 Parts and Interfaces The JCM 350 E03 features the followi
129. 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 requested 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 user s 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 will not use the predictor parameters but instead it will use the current 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 function of sub index 11 is
130. must be accessible for servicing The installation location must be of sufficient size See also Physical Dimensions on page 19 Avoiding Unsuitable Do not install the device in inappropriate locations Installation Locations The following installation locations are not suited for mounting the JCM 350 E03 Unsuitable installation location Unventilated installation location Stainless steel surfaces Installation location close to heat sensitive materials Installation surfaces are uneven Reason The device could overheat as heat builds up Galvanic corrosion may occur between device and mounting surface The materials could become warped or misshapen as a result of heat produced by the device The installation surface could become misshapen when fitting the device m Installation is unstable and precarious 54 Jetter AG JCM 350 E03 Mounting and Installation Permissible Installation The diagram shows the positions permitted for installation Positions Number Permissible installation Positions Oa erona O 2 omat O erat comesa O OOOO a erent comecordowwards O Prohibited Installation The diagram shows the positions prohibited for installation Positions Number Prohibited Installation Positions 4 vertically connector upwards 2 vertically pressure equalizing membrane upwards Why are these installation positions prohibited Jetter AG 55 4
131. n Software version of the controller SW Version v4 3 0 Initializing CAN 0 CanOpenInit CAN CONTROLLER 0 NodeID Node 0 SW Version Obtaining the number of available digital outputs per SDO Digital Output Object Objectindex 0x2101 Subindex 6 180 Jetter AG JCM 350 E03 Programming CanOpenUploadSDO CAN CONTROLLER_0 NodeID Node_1 Objectindex Subindex CANOPEN DWORD sizeof Data_ Outputs Data Outputs busy End Task Setup Pane If the variable Data_Outputs has been selected in the JetSym setup pane the value in the column Content shows that 16 outputs are available Data_Outputs Amount of digital outputs Fs CPU 2 CAN_Test step ST CAN_Test stxs X X Jetter AG 181 9 Programming Setting Digital Outputs Per PDO Task Solution Prerequisites How it Works JetSym STX Program Set a digital output on the JXM IO E02 By means of a PDO the message for setting the digital output is sent to the CAN bus Initial commissioning of JCM 350 E03 has been completed This means Installation of the device is completed The device is connected via USB CAN adaptor to the PC In JetSym an active connection to the JCM 350 E03 exists First the controller JCM 350 is initialized Then it sends the data required for setting the digital output to the CAN bus by using the function CanOpenAddPDOTx Please note that the I O module JXM IO E02 re
132. ndex 4 The function of sub index 4 is described below Sub index 4 can be read to obtain the recently measured current in mA units Note that this measurement is not available when the H Bridge outputs are used as independent digital outputs 120 Jetter AG JCM 350 E03 Sub Index 5 Sub Index 6 Jetter AG CANopen Objects 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 Bit 1 0 Pin 69 is set as output Bit 5 4 Pin 70 is set as output In the configuration as two independent digital outputs the following data values are possible 0b00 Tri state output 0b01 Output state is OFF 0b10 Output state is ON In PWM controlled mode a value in the range of 0 1023 sets the PWM duty cycle In PWM controlled mode sub index 5 is used to set the PWM duty cycle The function of sub index 6 is described below Sub index 6 can be read to obtain the maximum value for the duty cycle that can be input via Sub Index 5 121 7 CANopen Objects Frequency Input Objects Index 0x2600 through 0x2601 Frequency Inputs The structure of the objects Frequency Input is shown in the following table Index 0x2600 through This object is for configuring input pins 54 and 55 as frequency inputs or as 0x2601 simple digital inputs In frequency input mode the period length of the oleate s
133. ng parts and interfaces 1 2 3 4 Number Content Deserpton 4 Nameplate For identifying the JCM 350 E03 Connector For connecting external components and the controller Pressure compensation Compensation of inside and outside air membrane pressure 4 Fastening lugs For screwing down the JCM 350 E03 Jetter AG 17 2 Product Description and Design Order Reference Options Order Reference The JCM 350 E03 is available in the following configurations To order a specific module from Jetter AG please specify the corresponding part number 18 Jetter AG JCM 350 E03 Product Description and Design Physical Dimensions Introduction This chapter details the physical dimensions of the JCM 350 E03 and the conditions for installation Physical Dimensions The diagram shows the dimensions of the JCM 350 E03 Im Ae Lo 2 110 150 Space Required for The diagram shows the space required for the JCM 350 E03 Installation and Service mi Ensure there is enough space around the connector for servicing requirements It should be possible to disconnect the connector at any time Jetter AG 19 2 Product Description and Design Space Required to The diagram indicates the safety distances to protect against overheating Protect Against Overheating lai w Please note The JCM 350 E03 increases the temperature of the environment as a result of heat emission under load The JCM 350 E03
134. nt Consumption Regulated 5 V Output Technical Data Regulated Output Rated voltage DC 12 V or DC 24 V Permissible voltage range DC 8 32 V Current consumption at 12 V tbd Current consumption at 24 V tbd The base current consumption is measured shortly after switching on the JCM 350 E03 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 e o 66 Regulated 5 V output Regulated voltage DC 5V Load current max 250 mA Overcurrent detection Yes 40 Jetter AG JCM 350 E03 Mounting and Installation CAN Interface and Node ID Introduction The following diagrams show the pin assignment of the connector view from the front CANopen HO V O W WHY amp amp k3 t bled b3 G9 bd L G2 L 9B BG OHO Ak C Pin Function 62 OUT_CAN_L 63 OUT_CAN_H 64 IN_CAN_L 65 IN_CAN_H Node ID HDO W G O D o w b EE t ed t b by bd ey Lz G3 Pin Function 67 Node ID tri state input 1 68 Node ID tri state input 2 Technical Data Tri State Inputs Parameter Description Application for device coding as digital inputs Type of inputs Pull up resistor to IGNITION FEED and pull down resistor to ground Tri state detection Tri state operation is detected by a pull down resistor to ground Rated voltage IGNITION FEED Threshold level OFF lt 1 0V Threshold level ON gt 4 0V
135. ntroller point of view the following data can be read back from the JXM IO E02 via the macro PDO2_RX 0x280 node ID Byte Offset Index Size byte Description Sub index 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 From the controller point of view the following data can be read back from the JXM IO E02 via the macro PDO3_RX 0x380 node ID Byte Offset Index Size byte Description Sub index 0 0x2600 04 2 Frequency input 1 2 0x2601 04 2 Frequency input 2 For PDO 3_RxX 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 Jetter AG 137 7 CANopen Objects RX PDO Allocation on the JXM IO E02 PDO Assignment and The tables below show the allocation of RX PDOs implemented on the Paramet
136. operties Values 2 147 483 648 2 147 483 647 with overflow function R 201002 Application time base in application time base units Every 201003 10 milliseconds this register is incremented by 1 Using the reset value in register 201003 of 10 this register is incremented every 100 milliseconds Register properties Values 2 147 483 648 2 147 483 647 with overflow function Jetter AG 175 9 Programming R 201003 Application time base unit for R 201002 This register contains the multiplier for runtime register R 201002 Register properties Values 1 2 147 483 647 10 ms Value following reset 10 gt 100 ms Enabling Conditions after at least 10 ms R 201004 System time base in milliseconds Every millisecond this register is incremented by 1 Register properties Values 2 147 483 648 2 147 483 647 with overflow function Access Read access 176 Jetter AG JCM 350 E03 Programming Sample Program Runtime Registers Task Measure how much time it takes to store variable values to a file Solution Before storing the values register 201000 is set to 0 Once the values have been stored from this register can be seen how much time it took to store the values in milliseconds JetSym STX Program Var DataArray Array 2000 Of Int Filel File WriteTime Int WritelIt Bool MilliSec Int At SVL 201000 End Var Task WriteToFile Autorun Loop clear start flag WriteIt
137. or backwards compatibility Sub index 4 uses the two bit per channel data structure described below Jetter AG Bit 1 0 Digital input IN 1 Bit 3 2 Digital input IN 2 Bit 5 4 Digital input IN 3 Bit 7 6 Digital input IN 4 Bit 9 8 Digital input IN 5 103 7 CANopen Objects Sub Index 5 Sub Index 6 104 In the two bit per channel configuration the following data values are possible The function of sub index 5 is described below 0b00 Not used 0b01 Input state OFF 0b10 Input state ON 0b11 Not used Sub index 5 can be read to obtain the latest measured states 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 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 In the one bit per channel configuration the following data values are possible 0 Input state OFF 1 Input state ON Sub index 6 can be read to obtain the number of available inputs In this case five inputs are available Jetter AG JCM 350 E03 CANopen Objects Universal I O Object 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 Any universal I O can be used as digital input or output fa
138. ords it specifies the conversion method Function SAEJ1939SetSPNConversion CANNo Int bySA Byte iConversionMethod Int Int The function SAEJ1939SetSPNConversion has the following parameters CANNo O CAN channel number CANMAX M Source Address of message 0 253 sender iConversionMethod Conversion method 4 Automatic detection 2 Default The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters The value of the CANMAX parameter depends on the device The following table provides information on this point Result SAEJ1939SetSPNConversion 1 OxAE 4 Jetter AG 161 8 SAE J1939 STX API STX Function SAEJ1939GetSPNConversion Introduction Calling up the function SAEJ1939GetSPNConversion ascertains the current conversion method set Function Declaration Function SAEJ1939SetSPNConversion CANNo Int bySA Byte iConversionMethod Int Int Function Parameters The function SAEJ1939GetSPNConversion has the following parameters CANNo CAN channel number 1 CANMAX bySA Source Address of message 0 253 sender iConversionMethod Conversion method 1 4 4 Automatic detection 2 Default Return Value The function transfers the following return values to the higher level program Return Value 0 ok 1 Error when checking parameters Parameter CANNo The value of the CANMAX parameter
139. ound Contents Jetter AG This chapter describes the available protection and diagnostic features implemented on the JXM IO E02 The following features are currently supported Detecting faults in the application program or visualization Identifying the root cause of a fault Troubleshooting an error that caused a fault message To be able to troubleshoot a fault on the JXM IO E02 module the following prerequisites must be fulfilled The JXM IO E02 module is connected to a controller or is integrated into the controller JCM 350 E03 The controller is connected to a PC The programming tool JetSym is installed on the PC The minimum requirements regarding modules controllers and software are fulfilled When a fault is detected the module 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 module JXM IO E02 will again disable the function and retransmit the error notification Topic Page Standard Feed Power Input STANDARD FEED 196 Safety Feed Power Input SAFETY FEED 0 ceecceeeeteeeteeeeseeeeeeees 197 Digital Outputs 1 8 Standard Outputs 0 ccceeee
140. parameters CANNo CAN channel number 0 CANMAX SWVersion Reference to own software String up to 255 version characters This software version is entered into the index 0x100A in the object directory The function transfers the thetic tensteis the lewng reumy eto he gua prona return values to the higher level program Return Value 0 ok 1 Error when checking parameters 3 Initialization has not worked The value of the CANMAX parameter depends on the device The following table provides information on this point mon e a 70 Jetter AG JCM 350 E03 Using this Function How it Works Access to the Object Directory NMT Messages Related Topics Jetter AG CANopen STX API Initializing the CAN bus 0 The JCM 350 E03 has node ID 20 0x14 Result CanOpenInit 0 20 Version 01 00 0 00 During initialization the JCM 350 E03 processes the following process steps Step scription 4 First the bootup message is sent as a heartbeat message As soon as the JCM 350 E03 goes into Pre operational status it sends the Pre operational heartbeat message The Object Directory can only be accessed via The Object Directory can only be accessed via SDO if the JCM 350 E03 is in if the JCM 350 E03 is in Pre operational status After initialization NUT messages can be sent and received The own heartbeat status can be changed with the CanOpenSetCommana function STX Function CanOp
141. ram Related Topics Application Program on page 211 168 Jetter AG JCM 350 E03 Programming Memory for Non Volatile Application Program Registers Introduction Properties Memory Access JetSym STX Program Setup Pane Non volatile registers are used to store data which must be maintained when the controller is de energized Global variables assigned to permanent addresses VL Register variables always occupy 4 bytes Register variables are not initialized by the operating system Number of register variables 6 000 Register numbers 1 000 000 through 1 005 999 By JetSym From within the application program In the following program a register variable is incremented by 1 every time the application program is launched Thus it is used to count the number of program launches Var ProgramStartCounter End Var Task Work Autorun End ProgramStartCounter Loop OE dass End_ Loop Task Int At SVL 1000000 ProgramStartCounter 1 The JetSym setup pane displays the content of the register variable JCvox Manual stxs JC 0x V1 03 00 07 JETIP 192 168 EBR Number Coment aserpfon Present content of the The content of the register variable is register variable incremented by 1 every time the program is launched Jetter AG 169 9 Programming Memory for Non Volatile Application Program Variables Introduction Propert
142. rds compatibility writing a value of 0x81 to Sub Index 2 will disable the AGC mode The value of 0x90 will disable the current input mode to enable voltage measurement 110 Jetter AG JCM 350 E03 Sub Index 4 Sub Index 5 Sub Index 6 Sub Index 7 Jetter AG CANopen Objects The function of sub index 4 is described below Sub index 4 can be read to obtain the value of the latest measured analog input signal 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 can be read to obtain the value of the latest measured analog input signal too Sub index 5 also reports the measured analog signal but the reported value is in millivolt mV units 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 can be read to obtain the maximum value that can be output via Sub Index 4 The function of sub index 7 is described below Sub index 7 can be read to obtain the maximum value that can be output via Sub Index 5 111 7 CANopen Objects Voltage Sense Analog Input Object Index 0x2210 Voltage Sense Analog The structure of the object Voltage Sense Analog Input is shown in the Input Index 0x2210 following table This
143. ri state operation is detected by a pull down resistor to ground Rated voltage IGNITION FEED Threshold level OFF lt 1 0V Threshold level ON gt 4 0V Jetter AG 221 Technical Data Digital Inputs IN 1 through IN 5 Technical Data Digital Inputs IN 6 through IN 13 Technical Data Digital Outputs STANDARD FEED 222 Parameter Type of inputs Rated voltage Permissible voltage range Threshold level OFF Threshold level ON Parameter Type of inputs Rated voltage Permissible voltage range Threshold level OFF Threshold level ON Input impedance Parameter Type of outputs Rated voltage Permissible voltage range Signal voltage OFF Signal voltage ON Load current of OUT 1 through OUT 8 Maximum inrush current Short circuit proof Overcurrent detection No load detection Appendix Software selectable with either 2 KQ pull up to STANDARD FEED or 2 kQ pull down to ground inputs Jetter AG JCM 350 E03 Appendix Technical Data Digital Inputs IN 14 through IN 21 Technical Data Digital Outputs SAFETY FEED Technical Data Switch Outputs Type of inputs Rated voltage Permissible voltage range Threshold level OFF Threshold level ON Input impedance Can be configured as active high inputs SAFETY 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 OF
144. rogram the variable Counter1 is incremented every 500 ms if flag 1 is set Var Flagl Bool At MX 1 Counterl Int At SVL 1000000 End Var Task Flag Autorun Flagl False Loop When Flagl Continue Inc Counterl Delay T 500ms End_ Loop End Task 173 9 Programming 9 2 Runtime Registers Introduction The JCM 350 E03 provides several registers which are incremented by the operating system at regular intervals Application These registers can be used to easily carry out time measurements in the application program Contents Topic Page Description of Runtime Registers 0 00 0 ceeceeeeeeeeeeeeeeeenneeeeeeneeeeeenaeeeeeeaes 175 Sample Program Runtime Registers cccccecseeceseeeeeeeeeseeeeeeseeeeeeees 177 174 Jetter AG JCM 350 E03 Programming Description of Runtime Registers Overview of Registers The following registers are used in this manual R 201000 Application time base in milliseconds R 201001 Application time base in seconds R 201002 Application time base in R 201003 10 milliseconds R 201003 Application time base unit for R 201002 R 201004 System time base in milliseconds R 201000 Application time base in milliseconds Every millisecond this register is incremented by 1 Register properties Values 2 147 483 648 2 147 483 647 with overflow function R 201001 Application time base in seconds Every second this register is incremented by 1 Register pr
145. rrent 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 Tiss Isou 9 500 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 This parameter stores an output current limit value The data is in units of 100 mA i e 1 100 mA 25 2 5 A The current limit is in the range 1 55 100 mA 5 5 A The default value for the digital outputs 9 through 14 is 25 2 5 A The default value for the digital outputs 15 through 16 is 50 5A This parameter sets the initial functional mode for the PWM outputs at power on Please refer to the section on PWM object with index 0x2400 and sub index 2 The default value is 0x01 selecting current controlled PWM operation When this parameter is set to 1 the JXM IO E02 will use the tri state inputs to calculate its nod
146. se accordance with this user manual The controller JCM 350 E03 has been developed and designed to control certain applications for commercial vehicles and mobile machines such as sweepers fire fighting vehicles harvesting and construction machinery The controller JCM 350 E03 meets the requirements of the European Automotive EMC Directive for electric electronic subassemblies The controller JCM 350 E03 is intended for installation in a mobile machine The controller JCM 350 E03 must be operated within the limits and conditions established in the technical specifications The operating voltage of the controller JCM 350 E03 is classified as SELV Safety Extra Low Voltage Therefore the JCM 350 E03 controller is not subject to the EU Low Voltage Directive Usage Other Than This device must not be used in technical systems which to a high degree Intended have to be fail safe e g ropeways and aeroplanes The JCM 350 E03 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 the device is to be run under ambient conditions which differ from the allowed operating conditions Jetter AG is to be contacted beforehand Personnel Qualification Depending on the life cycle of the product the persons involved must possess different qualifications These qualifications are required to ensure proper handling of the device
147. sing PDO and SDO Contents Topic Page Digital InpUtS SDO guscio aeaa e AE E 185 Digital Inputs PDO cccccceeecceceeceeecee cesses eee eeseaeeeeaaeseaeeseceeeseaeeeseeseeeeess 187 184 Jetter AG JCM 350 E03 Digital Inputs SDO Task Solution Prerequisites How it Works JetSym STX Program Programming Set a digital input on the JXM IO E02 to Active High by means of the internal pulldown resistors SDO is used to access the object Digital Inputs and to set input 1 to Active High Initial commissioning of JCM 350 E03 has been completed This means Installation of the device is completed The device is connected via USB CAN adaptor to the PC n JetSym an active connection to the JCM 350 E03 exists The program accesses the object Digital Inputs with index 0x2100 and sub index 2 by means of the CANopen STX API function CanOpenDownloadSDO Then input 1 is set to Active High bit 0 1 Cone CAN CONTROLLER 0 0 Node ID of the controller NodeID Node _0 Ox7F Node ID of the I O module NodeID Node 1 0x10 End Const Var busy Int SW Version String Inputs Mode Long Objectindex Word Subindex Byte End Var Task Main Autorun Software version of the controller SW Version v4 3 0 First input Active High Inputs Mode 1 Initializing CAN 0 CanOpenInit CAN CONTROLLER 0 NodeID Node 0 SW Version Objectindex 0x2100 Subin
148. smission of a PDO message Jetter AG CANopen Objects Use this parameter to enable disable no load detection on all 16 digital output channels 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 0 No load detection is disabled a 1 No load detection is enabled The default value is 0 disabling no load detection on all channels Use this parameter to enable disable no load detection on all 3 PWM output channels Each channel is represented by a single bit in the 8 bit word 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 0 No load detection is disabled 1 No load detection is enabled The default value is 0 disabling no load detection on all 3 PWM channels Use this parameter to enable disable no load detection on the H bridge This parameter can have the following values 0 No load detection is disabled 1 No load detection is enabled The default value is 0 disabling no load detection on the H bridge This parameter applies only when the H bridge is used in PWM mode Use this parameter to enable sending of a PDO message when an event on one of the digital inputs occurs Each of the 21 inputs is allocate
149. t Digital output 11 SAFETY Current limit Digital output 12 SAFETY Current limit Digital output 13 SAFETY Current limit Digital output 14 SAFETY Current limit Digital output 15 SAFETY Current limit Digital output 16 SAFETY Current limit PWM output 1 Functional mode PWM output 2 Functional rw mode oO w N w N Oo o amp a Oo N oa rw O PWM output 3 Functional rw mode Tri state coding enable o Digital output No load threshold PWM output No load threshold Frequency input 1 Functional mode aa a a OE E O OE D a E FO a C aa e ft E 126 Jetter AG JCM 350 E03 Version Reset Delay CANopen Objects O Deserpion atributos 42 Frequency input 2 rw Functional mode 249 PWM output Current limit Digital inputs IN 1 through IN rw 5 Active high Active low selection Switch feed output Initial rw output state Digital outputs No load rw detection enable PWM No load detection enable H Bridge No load detection rw enable Event triggered transmission rw of a PDO message When reading this parameter the version number of the System Parameters is returned When writing to this sub index a Reset to Factory Defaults option is enabled To enable this function proceed as follows m 1 Write 0x01042006 2 Write OxC1EA5AFE 3 Wait a few secon
150. t name G JetSym ST Project Ques ym Project i Dues ym STX Library Location C ProgrammeWetter WetSym P m Create New Workspace Dk Cancel 3 Select JetSym STX project as the project type 4 Enter the project name 5 Confirm your settings by clicking OK Result A project has now been created 62 Jetter AG JCM 350 E03 Initial Commissioning Configuring the To establish a connection between JetSym and the controller you need to Hardware configure the hardware as follows Switch to the Hardware view by clicking on the tab with the same name Functions a Files Pil Hardware Dd Setup Fully expand the Hardware tree Under Controller Type select JCM 350 Under Interface Type select JetCAN Test the connection by clicking on the Test button If the test fails check the mechanical CAN connection between PC and JCM 350 E03 also refer to the next topic Possible Error Messages Save your settings using the shortcut Ctrl S Result The hardware settings are now configured in JetSym Double click on CPU Result The dialog box Configuration opens Possible Error Messages Error message 1 Cannot connect to controller Unable to find the Can device required Lx Jetter AG 63 5 64 Initial Commissioning Possible Cause Selection of wrong controller type Wrong Baud rate Wrong node ID Fix for this Problem Check whether your selection matc
151. t 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 By writing the value 0 to sub index 0 the list can be cleared as per the CANopen specification Composition of the Standard Error Field 2 byte LSB Error Code 2 byte MSB Additional information Jetter AG 101 7 CANopen Objects Manufacturer Software The structure of the object Manufacturer Software Version is shown in the Version Index 0x100A following table Default Description Atirbutes O DSoaeveson const Use only the STX function CanOpenUploadSDO to determine the version of the software running in the JXM IO E02 The version string is at least 9 characters long 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 0x100A Producer Heartbeat Time The structure of the Producer Heartbeat Time Object is shown in the Index 0x1017 following table 0x1017 1 000 ms Heartbeat time rw read amp write The legal range for values is 250 65 535 Features Object The structure of the object Features is shown in the following table Index 0x2000 index Subsindex Default Description Attributes 0x2000 oo oo f Features Object ro read only The Features object is provided for
152. tatus CanOpenSetCommand CAN CONTROLLER 0 CAN CMD NMT Value CAN CMD NMT ALLNODES CAN CMD NMT CAN _NMT OPERATIONAL ee End Task 82 Jetter AG JCM 350 E03 CANopen STX API STX Function CanOpenAddPDORx Introduction Notes Function Declaration Function Parameters By calling up the CanOpenAddPDORx function process data sent by other CANopen devices can be entered on receipt Process data are only received if sent by a CANopen device The PDO telegram is however only then transmitted if the CANopen devices on the bus have a status of Operational The smallest time unit for the Event Time is 1 ms The smallest time unit for the Inhibit Time is 1 ms Function CanOpenAddPDORx CANNo Int CANID Int BytePos Int DataType Int DataLength Int const ref VarAddr EventTime Int InhibitTime Int Paramset Int Int The CanOpenAddPDORx function has the following parameters CANNo CAN channel number 0 CANMAX CANID CAN identifier 11 bit 0 OX7FF CAN identifier 29 bit 0 Ox1FFFFFFF BytePos Starting position of data to be 0 7 received DataType Data type of data to be received 2 13 15 27 DataLength Volume of data for the global variable VarAddr VarAddr Global variable into which the received value is entered EventTime Time lag between two telegrams gt Inhibit Time InhibitTime Minimum time lag between two telegrams received lt
153. te CANOPEN_UNSIGNED8 7 CANOPEN_INTEGERS6 CANOPEN_UNSIGNED46 CANOPEN_INTEGER64 CANOPEN_UNSIGNED64 CANOPEN_REAL64 CANOPEN_VISIBLE_STRING CANOPEN_OCTET_STRING CANOPEN_UNICODE_STRING CANOPEN_DOMAIN Parameter Paramset The following parameters can be transferred to the function Several parameters can be linked together using the Or function CANOPEN_ASYNCPDORTRONLY Send asynchronous PDOs by receiving an RTR frame CANOPEN_ASYNCPDO Send asynchronous PDO CANOPEN_PDOINVALID PDO not sent CANOPEN_NORTR PDO cannot be requested by RTR Remote Request CANOPEN_29BIT Use 29 bit identifier Default 11 bit identifier Using this Function Result CanOpenAddPDOTx 0 842 0 CANOPEN DWORD sizeof var Data 1 of Node 3 var Data 1 of Node 3 1000 100 CANOPEN ASYNCPDO CANOPEN NORTR JetSym STX Program JCM 350 E03 sends process data to two CANopen devices with the node ID 74 and 112 After running the program and for changes the JCM 350 E03 92 Jetter AG JCM 350 E03 CANopen STX API sends cyclic PDO telegrams every 3 000 ms Event Time As a maximum the PDO telegram is sent every 10 ms Inhibit Time y NodelD_Node_0 NodelD_Node_2 NodelD_Node_1 JVM 407 JXM IO E02 JXM IO E09 CAN 0 120 Ohm 120 Ohm CAN Bus Include CanOpen stxp Const CAN no CAN CONTROLLER 0 0 Node ID Node 1 NodeID Node_0 10
154. ted 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 Contents Topic Page CANopen Object Dictionary for JCM 350 E03 0 ccccceeeeeeseeeeeeneeeees 96 CANopen Object Dictionary for JXM IO E02 00 ec eeeeeeeeeeeeeeenteeeeeeaes 99 CANopen PDO Specification cccececeecceceeeeeeeceeeaeeeeeeeeeeecneeeeeeeeeteees 136 Jetter AG 95 7 CANopen Objects 7 1 CANopen Object Dictionary for JCM 350 E03 Purpose of this Chapter This chapter describes the CANopen objects implemented on the JCM 350 and their function Supported Objects The following objects are supported by the operating system for JCM 350 2 a Code eee onz fananas AR et a a 1017 Producer Heartbeat Time 23h 1200 Server 1 SDO Parameter RECORD SDO Parameter 22h 1201 Server 2 SDO Parameter RECORD SDO Parameter 22h 1203 Server 3 SDO Parameter RECORD SDO Parameter 22h 1203 Server 4 SDO Parameter RECORD SDO Parameter 22h Contents Topic Page Supported CANopen SDO Objects ccccccccecccceesneeeeeesneeeeecseeeeeeseeeeeeaas 97 96 Jetter AG JCM 350 E03 CANopen Objects Supported CANopen SDO Objects Device Type index 0x1000 Error Register index 0x1001 Pre Defined Error Field index 0x1003 J
155. that control the inputs and outputs The ignition must be active for the JCM 350 E03 to be active The JCM 350 E03 will continue to run on a minimum input voltage of 5 9 V on IGNITION FEED in order to survive engine cranking ISO 7637 2 Test Pulse 5 compliant The JCM 350 E03 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 2 A Internal protection circuits protect against brief voltage drops on this line to ensure continued operation of the JCM 350 E03 STANDARD FEED STANDARD FEED provides power for some of the outputs of the JCM 350 E03 The maximum current draw on this line is 52 A However internal current measurement will cut outputs if the current exceeds the 30 A limit The current on STANDARD FEED is monitored by software SAFETY FEED SAFETY FEED provides power for some of the outputs of the JCM 350 E03 The maximum current draw on this line is 40 A However internal current measurement will cut outputs if the current exceeds the 30 A limit SAFETY FEED is protected by solid state switches which also implements a hardware current limit of 30 A Note on Ignition To start the JCM 350 E03 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 Jetter AG 39 4 Mounting and Installation Power Supply Technical Data Note on Curre
156. the SPN 174 and is a component byte 2 of the PGN 65262 Engine Temperature 1 Include SAEJ1939 stxp Var bySAEJ1939Channel Byte own Source Address Byte PGN 65262 Engine Temperature 1 Fueltemp Byte EngineTemperatureTbl TJ1939Rx End Var Task main autorun Initializing CAN 1 bySAEJ1939Channel 1 own Source Address 20 SAEJ1939Init bySAEJ1939Channel own Source Address Receive fuel temperature SAEJ1939AddRx bySAEJ1939Channel 65262 0x00 2 1 SAEJ1939 BYTE sizeof Fueltemp Fueltemp EngineTemperatureTbl End Task For information on the data priority PGN SA and data byte structure refer to the manual provided by the engine manufacturer Jetter AG 147 8 SAE J1939 STX API STX Function SAEJ1939AddTx Introduction Calling up the function SAEJ1939AddTx prompts the device JCM 350 E03 to cyclically send a specific message via the bus Cyclical sending continues until the function SAEJ1939lnit is called up again Date are sent once the Event Time has elapsed or the given variables have changed and Inhibit Time has elapsed Function Declaration Function SAEJ1939AddTx CANNo Int IPGN Long BytePos Int BitPos Int dataType tInt DataLength Int const ref VarAddr ref stJ1939 TJ1939Tx EventTime Int InhibitTime Int Int Function Parameters The function SAEJ1939AddTx has the following parameters
157. 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 Ox90D0 0x90D2 Over current 0x23D0 0x23D2 No load cable breakage 0x23C0 0x23C2 2 Jetter AG 201 10 Protection and Diagnostic Features JXM IO E02 H Bridge Detecting the Error Root Cause of Error Response of the Module to this Error 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 detection is unable to detect which of the two outputs caused the problem and will disable both outputs if a problem has been detected Over current and no load faults have user selectable thresholds These can be set through the System Parameters interface 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 The module responds to this error in the following levels The module will block the function that has caused the error a The module will send a CANopen emergency object to the controller The module will set the corresponding bit in the CANopen error register and
158. tions Define CANOPEN_PDO1_RX NodelD Def ine CANOPEN_PDO2_RX NodelD Define CANOPEN_PDO3_RX NodelD Define CANOPEN_PDO4_RX NodelD NodelID 0x180 NodelD 0x280 NodelD 0x380 NodelID 0x480 Ye we wm Define CANOPEN _PDO1_TX NodelD NodelD 0x200 Define CANOPEN _PDO2_TX NodelD NodelD 0x300 Define CANOPEN _PDO3_TX NodelD NodelD 0x400 Define CANOPEN_PDO4_TX NodelD NodelD 0x500 Example for calling up the macro CANOPEN_PDO2_RX 64 The resulting CAN identifier is 2COh 40h 280h Jetter AG JCM 350 E03 Default CAN Identifier Distribution Parameter DataType CANopen STX API For CANopen the following CAN identifier distribution is predefined In this case the node number is embedded in the identifier 11 bit identifier Identifier Identifier binary decimal hexadecimal 000000000000 lo Network Management ooo XXXXXXXX Node number 1 127 The following data types can be received Byte types CANopen format Jetter format CANOPEN_INTEGER8 Byte CANOPEN_UNSIGNED8 CANOPEN_INTEGER16 Word CANOPEN_UNSIGNED16 CANOPEN_INTEGER24 CANOPEN_UNSIGNED24 CANOPEN_INTEGER40 CANOPEN_UNSIGNED40 CANOPEN_INTEGER48 CANOPEN_UNSIGNED48 CANOPEN_TIME_OF_DAY CANOPEN_TIME_DIFFERENCE CANOPEN_INTEGER32 Int CANOPEN_UNSIGNED32 CANOPEN_REAL Jetter AG 91 6 CANopen STX API Byte types CANopen format Jetter format 1 CANOPEN_INTEGER8 By
159. turned Sub Index 2 The function of sub index 2 is described below 134 The JXM IO E02 offers 1 kB 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 JCM 350 E03 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 below Use sub index 3 to enable disable the function Auto Increment 0 Auto increment is disabled 1 Auto increment is enabled Auto increment works as follows 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 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 dela
160. ule register 150 Each module register is characterized by certain properties For many module registers most properties are identical For example their value after reset is 0 In the following description module register properties are mentioned only if a property deviates from the following default properties The number formats used in this document are listed in the following table The notation for sample programs used in this document is listed in the following table ns ma ee 100 0x100 0b100 Constant numerical value 164 Jetter AG JCM 350 E03 Programming 9 1 Memory Overview Introduction The JCM 350 E03 features several types of program and data memories There is volatile memory that requires power to maintain the stored information and non volatile memory which does not require power to maintain the stored information This memory is located directly on the CPU This chapter gives an overview of the available memory Contents Topic Page File System Mamo eara dvi aati aea elites 166 Operating System Memory cccccccceccccessneeeececeeeeeessneeeeesseeeesssieeeesseneeeees 167 Application Program Memory ccccccceeeeeeeeeeeeeeeeeeeneeeeeenaeeeeeenaeeeeeenaeeeeeneas 168 Memory for Non Volatile Application Program Registers ceeeee 169 Memory for Non Volatile Application Program Variables c08 170 SPEClal REGISCNS erreira N ievsteceedduieeeady nee OT OTO 172 AGS
161. ument is also known as the communication profile and describes the fundamental services and protocols used under CANopen a CiADS 302 Framework for programmable devices CANopen Manager SDO Manager CiADR 303 Information on cables and connectors CiA DS 4xx These documents describe the behavior of a number of device classes in what are known as device profiles Topic Page STX Function CanOpennit cccceceeeesecceeceeeeeeeeeeceeeeeeeeesesacaeeeeeeeeentees 70 STX Function CanOpenSetCommana ccccccceeecceeeeceeeeteeeenaeeeeeeeettes 72 STX Function CanOpenUploadSDO c ccccceceeeeeeeceeeeteeeseesaeeeeeeeettes 74 STX Function CanOpenDownloadSDO ccccccecseceeeeeeeeeeeeneeeeeeeeeeees 78 STX Function CanOpenAddPDOR 2 ccccceceeeeeeeeceaeeeeeeeeeeeneeeeeeeeeetes 83 STX Function CanOpenAddPDOTX cecceceeeeeeeeeceaeceeeeteeecneeeeeeeeettees 89 69 6 CANopen STX API STX Function CanOpeninit Introduction Function Declaration Function Parameters Return Value Parameter CANNo Calling up the CanOpenlnit function initializes one of the CAN busses The JCM 350 E03 then automatically sends the heartbeat message every second with the following communication object identifier COB ID Node ID 0x700 Function CanOpenInit CANNo Int NodeID Int const ref SWVersion String TInt The CanOpenlnit function has the following
162. unction SAEJ1939RequestPGN sends a request to the DA Destination Address following a PGN This function is not terminated until a valid value has been received or the timeout of 1 250 ms has elapsed To obtain the value of the requested message its receipt must be scheduled using the function SAEJ1939AddRx This function must be constantly recalled in cycles Function Declaration Function SAEJ1939RequestPGN CANNo Int byDA Byte ulPGN Long byPriority Byte ING Function Parameters The function SAEJ1939RequestPGN has the following parameters CANNo CAN channel number CANMAX Destination Address is requested ulPGN PGN 0 0X3FFFF Parameter Group Number byPriority Priority 0 7 Default Value 6 Return Value This function transfers the following return values to the higher level program Return Value 0 Message has been received 1 Timeout as no reply has been received Parameter CANNo The value of the CANMAX parameter depends on the device The following table provides information on this point JVM 407 2 BTM 012 BTM 011 JCM 350 JCM 620 152 Jetter AG JCM 350 E03 SAE J1939 STX API Parameter DataType Data types can include the following Byte types Bit types SAEJ1939 SAEJ1939_UNSIGNED8 SAEJ1939_BYTE 2 SAEJ1939_UNSIGNED16 SAEJ1939_ WORD SAEJ1939_UNSIGNED32 SAEJ1939_ DWORD a sere ee ee Oo f s w serene series sever srs rar Using this Function Result SAEJ1939R
163. universal I O is used as digital input the related digital output must be disabled OFF Universal I O The structure of the object Universal I O is shown in the following table This Index 0x2101 object is for configuring universal I Os It allows either to read out the state of the digital inputs IN 6 through IN 21 or to set the digital outputs OUT 1 through OUT 16 Index Sub Index Default Description Attributes 0x2101 0 6 Number of entries ro read only 1 0 Enabling channel rw read amp write 2 0 Disabling channel rw E 4 Not used 4 0 Process value 0 rw Reading back output states reading out input states 5 0 Process value 1 rw Output States 6 16 Parameter 0 Number ro of inputs outputs Sub Index 1 The function of sub index 1 is described below Sub index 1 can be used to enable individual channels To enable a channel enter its number 1 through 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 can be used to disable individual channels To disable a channel enter its number 1 through 16 into sub index 2 Reading out sub index 2 will always return the value 0 Sub Index 4 The function of sub index 4 is described below Sub index 4 can be read to obtain the latest measured states of IN 6 through IN 21 Or it can be read to obtain the states of outputs OUT 1 throug
164. urn IN 12 OUT 7 Ground Return IN 13 OUT 8 Technical Data Digital Inputs IN 6 through IN 13 Type of inputs Can be configured as active high inputs Rated voltage STANDARD FEED Permissible voltage range DC 8 32V Threshold level OFF 51 of IGNITION FEED Threshold level ON 51 of IGNITION FEED Input impedance 100 kQ Digital Outputs Paramet STANDARD FEED Type of outputs Active high output Rated voltage STANDARD FEED Permissible voltage range DC 8 32 V Signal voltage OFF lt 1 0V Signal voltage ON Ustanparp 0 5 V Load current of OUT 1 through OUT 8 max 2 5A Maximum inrush current tbd Short circuit proof Yes Overcurrent detection Yes No load detection Yes 46 Jetter AG JCM 350 E03 Digital Universal I Os SAFETY Technical Data Digital Inputs IN 14 through IN 21 Mounting and Installation Pe serine S16 umesane OUTS ae umesane ron 19 umesane OOO 70 umesane ror OOOO Oa umesane OOO 2 umesane Cas mesana oore OOOO 40 cromare naout OOO O cromare Nasoro OOOO 2 oware norn 8 comae nzo OOO 4 cromare neor OOOO 45 cromare N 90T OOOO 46 oware Noors Type of inputs Can be configured as active high inputs Rated voltage SAFETY FEED lt 51 of IGNITION FEED gt 51 of IGNITION FEED Jetter AG 47 4 Mounting and Installation Technical Data Digital Outputs SAFETY FEED Switch Feed Outputs Technical Data Switch Outputs Load current of OUT 11 throug
165. use an adaptor by proceed with step 7 PEAK Systems Navigate in Windows Explorer to the directory PeanDrv located in the JetSym installation Default location C Programme Jetter JetSym Tools PcanDrv 6 Execute the file PcanDrv exe and follow the instructions 7 Plug the Sub D connector of the adaptor into the IN_CAN port of the JCM 350 E03 female Sub D connector Result In the case of an error free installation the CANopen connection between PC and controller is completed Related Topics Initial Commissioning in JetSym on page 62 Jetter AG 61 5 Initial Commissioning Initial Commissioning in JetSym Introduction Prerequisites Creating a Project JetSym is used to configure and program the controller JCM 350 E03 The following is detailed in this topic Creating a project in JetSym Configuring the hardware controller Initializing the JCM 350 E03 The following requirements must be satisfied JetSym is installed on the PC used JetSym has been licensed see online help in JetSym Preparatory work for initial commissioning is completed and an active CANopen connection between controller and PC has been established A new project for the programming is created in JetSym as follows Step atom 1 Seseme Open menu item File and select entry New Result The dialog box New opens New Files Projects Workspaces Other Documents Gers ym STX Project Projec
166. used the error The analog output will remain disabled until the module is instructed to set the analog output to a normal mode again or u occurred The module will set the corresponding bit in the CANopen error register and will send the following error code Error Type Error Register Short to GND 0x9020 200 Jetter AG JCM 350 E03 Protection and Diagnostic Features JXM IO E02 PWM Outputs 1 3 Detecting the 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 module 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 module JXM IO E02 will additionally detect over current faults These faults are also defined by a user selectable current threshold Root Cause of Error 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 Response of the Module The module responds to this error in the following levels to this Error Level Description The module will send a CANopen emergency object to the controller The module will block
167. y must be implemented after the SDO command The JXM IO E02 first writes to the EEPROM memory which takes a while before transmitting 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 135 7 CANopen Objects 7 3 CANopen PDO Specification Introduction Contents 136 This chapter describes the CANopen PDO specification 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 the node has been set to operational state Topic Page TX PDO Allocation on the JXM IO E02 w ccceee cece cece cee ee eee ceeeeeesaeaaeeeeeeeees 137 RX PDO Allocation on the JXM IO E02 00 ccccceeeceececee cece ee eeeeseeeeeeeaees 138 Jetter AG JCM 350 E03 CANopen Objects TX PDO Allocation on the JXM IO E02 PDO Assignment and Parameters The tables below show the allocation of TX PDOs implemented on the JXM IO E02 CANopen objects are linked with their corresponding PDOs From the controller point of view the following data can be read back from the JXM IO E02 via the macro PDO1_RX 0x180 node ID Byte Offset Index Size byte Description Sub index 0 0x2101 04 2 Digital outputs read back 0x2100 04 2 Digital inputs 4 0x2100 04 1 Tri state input From the co

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