SICK MAX Series

6.9.6 Setting SAE J1939 operating parameters
The operating parameters of the SAE J1939 device variant can be set analogously to
the CANopen variant. The device can receive configuration messages during operation,
and will adopt the settings immediately after receiving the message.
The cycle time can be set using the following commands (e.g., 100*):
Table 32: Setting the cycle time
Data source COB-ID Data Destination
Controller 0x18B2SAMA 4D; 54; 53; 00; 64
*
; 00
*
; 00; 00 Sensor
SA
MAX CAN J1939 standard sensor source address
MA
Master source address
*
e.g., 64; 00: Bytes to configure transmission repetition rates
6.9.7 CANopen encoder data during operation
Data is outputted by means of a Process Data Object (PDO). The PDO contains the posi‐
tion and speed data.
Data format
The resolution of the position data is fixed at 100 μm, and the resolution of the speed
data is 1 mm/s. The currently set values can be read under index 6005 of the object
directory. All position data are stored as 32-bit integer values, and speed data as 16-bit
integer values.
Table 33: PDO allocation when using the default settings
Identifier DLC D0 D1 D2 D3 D4 D5
180h + node
ID
6 Position magnet 1 Speed magnet 1
The position and speed are calculated as follows:
Position [μm] = position value [counts] * 100μm
Speed [mm/s] = speed value [counts] * 1 mm/s
6.9.8 SAE J1939 encoder data during operation
Data is outputted by means of a Data Record Message.
Table 34: Data Record Message
Identifier DLC D0 D1 D2 D3 D4 D5 D6 D7
0 x 18
PFPSSA
8 Position Speed Status Error Code Limit Sta‐
tus
0xFF
PF
PDU format is fixed to 255 (0xFF)
PS
PDU Specific can be 0-255 (0x00 - 0xFF)
SA
MAX CAN J1939 standard sensor source address
6.9.9 CANopen error messages
An emergency object is sent whenever there is a change to the internal error status reg‐
ister (even if the error has since been rectified). The object comprises 8 data bytes and
is structured as follows:
Table 35: Emergency object
Identifier DLC D0 D1 D2 D3 D4 D5 D6 D7
0x80 + node
ID
8 Error Code Error register Manufacturer-specific
The following errors are reported in the emergency object:
6 COMMISSIONING
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O P E R A T I N G I N S T R U C T I O N S | MAX 8022793/ZXZ4/2018-07-24 | SICK
Subject to change without notice