Baumer Absolute encoder User Manual

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 11/27 Frauenfeld, Switzerland
5 CAN Frame
A standard CAN-Frame with a 29-Bit identifier is being used for the J1939 bus. The data in the PDU fields will be
interpreted differently, depending on choosen PDU1 or PDU2 format, which is defined by the Identifier.
Protocol Data Unit (PDU)
Description
Identifier
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit
5.1 Identifier
The Identifier is defined as the CAN 29-Bit Identifier and can be configured by the user in two ways:
 Configuring of default ECU address (Object 0x2102)
 Configuring of Group Extension (Object 0x2103)
Parameter Group Number (PGN)
Description
Priority
Extended
Data page
Data Page
PDU Format
(PF)
Destination Address
Group extension
Source address
(ECU address)
Bit
28 … 26
25
24
23 … 16
15 … 8
7 … 0
Principally, there are two different message formats used in the J1939 protocol, which are defined by the data range of
the PDU format field:
PF Values 0 … 240 (called as PDU1 Format)
 Peer-to-Peer and broadcast communication
 Field Destination Address always contains the receivers address, or broadcast (25%)
 Used for Encoder parametrization
PF Values 240 … 255 (called as PDU2 Format)
 Only broadcast communication
 Field Destination Address is used as Group Extension value
 Used for cyclic sending values of the Encoder
Priority:
As lower the value, as higher is the priority on the bus.
This value is fixed to the value 6.
Extended Data page:
Only value 0 is supported
Data page:
Only value 0 is supported
PDU Format:
If Values < 0xEF -> PDU1 format is used
If Values > 0xFE -> PDU2 format is used
PDU1: Destination Address:
PDU2: Group Extension:
 PDU1: This is either the address of the Encoder,
when requesting data or this will be the address of
the ECU, which requested Data, when the
Encoder responds to a message.
 PDU2: Group Extension, can used to create an
offset to the cyclic message PGN (65450 + Group
Extension)
Source address
(ECU address)
Containing always the own address (default-value: 172).
This address is claimed with the NM Service (see address
claiming)

Baumer Absolute encoder Specifications

General

Brand	Baumer
Model	Absolute encoder
Category	Media Converter
Language	English

Summary

1 Version overview

2 Safety and operating instructions

Intended use

Specifies the intended application and limitations of the encoder.

Personnel qualification

Defines required qualifications for installation and assembly.

Maintenance

Outlines maintenance requirements and warnings about opening the encoder.

Disposal

Advises following environmental guidelines for disposal.

Mounting

Provides instructions for mounting the encoder shaft and housing.

Electrical commissioning

Details electrical connection and EMC requirements for commissioning.

Supplementary information

States the manual's role as a supplement to other documentation.

3 Product Assignment

3.1 Absolute encoder

Identifies the product as an absolute encoder.

4 System Overview

4.1 General

General description of the encoder's capabilities and interface.

4.2 Supported J1939 Services

Lists supported J1939 services and protocols.

4.3 Function Principle

4.3.1 Overview

Provides a functional overview diagram of the encoder's signal processing.

4.3.2 Scaling

Explains how speed and position scaling are adapted using objects.

4.3.3 Position Range

Details the position range based on step settings and object values.

4.3.4 Speed range

Describes the two objects used for speed information and their ranges.

4.3.5 Electronic gear function

Explains the electronic gear function and its configuration using objects.

4.4 Encoder as standard component with embedded software used in safety functions

5 CAN Frame

5.1 Identifier

Defines the CAN 29-Bit Identifier and its configuration methods.

5.2 Parameter Group Number (PGN)

Explains the PGN as a parameter identifier and lists supported PGNs.

5.2.1 Identifier Examples

Provides examples of CAN identifiers for PGNs.

6 Network Management Service

6.1 NAME Field (PGN 60159)

Describes the NAME field for device identification and address claiming.

6.2 Address Claiming

Explains the process of detecting and resolving address conflicts on the network.

7 PGN65450 - cyclic message (PDU2 Format)

7.1 General

Introduces the cyclic PDU2 message for transmitting encoder values.

7.2 Frame Format

Details the frame format for the PGN65450 cyclic message.

7.3 Mapping

Describes customer-specific mapping for PGN65450.

7.3.1 Mappable objects

Lists objects that can be mapped into the PGN65450 message.

7.3.2 Default mapping of absolute encoder

Shows the default data mapping for the PGN65450 message.

7.4 Timing

Specifies the minimal cycle time for PGN65450.

7.5 Exceptions of accurate calculation of process data

Lists operations that can interrupt process data calculation.

8 PGN61184 - Encoder Parameters and values (PDU1 Format)

8.1 Request frame format for PDU1

Defines the frame format for PDU1 requests to access parameters.

8.2 CMD Codes

Lists command codes for writing and reading encoder parameters.

8.3 Response Frame format for PDU1

Defines the frame format for PDU1 responses to parameter requests.

8.4 Response Codes

Lists codes indicating success or failure of parameter read/write commands.

8.5 Error-Codes

Lists specific error codes and their meanings for parameter operations.

9 Object descriptions and examples

9.1 0x1010 Saving of parameters

Explains how to save encoder parameters to non-volatile memory.

9.2 0x1011 Restoring of default values

Details how to restore factory preset values for parameters.

9.3 0x1018-2 Reading of the product code

Describes how to read the encoder's product code and device name.

9.4 0x6507 Reading of the software version

Explains how to read the encoder's software version.

9.5 0x2100 Baudrate

Lists baudrate values and provides examples of how to change them.

9.6 0x6001 Measuring units per revolution

Explains setting the singleturn resolution (measuring units per revolution).

9.7 0x6003 Preset value encoder

Describes how to preset the encoder's position value using object 0x6003.

9.8 0x2103 Group Extension

Explains the 8-bit Group Extension value transmitted in Byte 4.

9.9 0x2104 Transmission rate for PGN65450

Details how to set and read the transmission rate for PGN65450.

9.10 0x2117 Encoder Diagnostics

Explains encoder diagnostic warnings and error codes.

10 Object directory

10.1 Communication Profile Area

Summarizes objects in the communication profile area with their properties.

10.2 Manufacturer Specific Profile Area

Summarizes objects in the manufacturer specific profile area with their properties.

10.3 Standardized Device Profile Area

Summarizes objects in the standardized device profile area with their properties.

Appendix

A. Pin Assignments

Lists default pin assignments for galvanically isolated encoders.

A.1 Assignment cable (connection – L) and connector 1 x M12 (connection – N)

Details cable colors and M12 connector pin assignments.