Baumer Absolute encoder - 8 PGN61184 - Encoder Parameters and values (PDU1 Format); 8.1 Request frame format for PDU1; 8.2 CMD Codes

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 16/27 Frauenfeld, Switzerland
8 PGN61184 - Encoder Parameters and values (PDU1 Format)
PDU1 Format is being used for reading and writing of the encoder parameters.
The following parameters can be accessed
o Encoder Values
 Position (Index 6004h)
 Speed (Index 6020h / 2020h)
 Diagnostic (Index 2017h)
o Encoder parameters
 Direction (Index 6000h)
 Scaling (singleturn resolution/turn)
 Preset
o PGN65450 cyclic message parameters
 Transmission rate
o Baudrate
o ECU default address
o Group extension
o Customer EEPROM (4x 32-Bit)
o Save/Restore commands
8.1 Request frame format for PDU1
Protocol Data Unit (PDU)
Description
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit
8
CMD
Index
Sub-
Index
Data bytes
The PF-Value (PDU Format value) is shall always be 0xEF.
The LSB of Index and Data bytes are always transferred first (see examples).
8.2 CMD Codes
CMD-Codes
Description
22h
Writing request, unspecified length
23h
Writing request, 4 bytes
27h
Writing request, 3 bytes
2Bh
Writing request, 2 bytes
2Fh
Writing request, 1 bytes
40h
Read command