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Table of Contents
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Summary of Contents for Baumer Absolute encoder
- Page 1 Manual Absolute encoder with SAE J1939 Baumer Electric AG Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 52 728 11 22 Fax +41 52 728 11 44 08.18 sales.ch@baumer.com Subject to modification in technic and design. www.baumer.com Errors and commissions excepted...
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Page 2: Table Of Contents
Mapping ............................... 15 7.3.1 Mappable objects ............................15 7.3.2 Default mapping of absolute encoder ......................15 Timing ................................15 Exceptions of accurate calculation of process data ..................15 PGN61184 - Encoder Parameters and values (PDU1 Format) ..............16 Request frame format for PDU1 ........................16 CMD Codes .............................. - Page 3 Manufacturer Specific Profile Area ......................25 10.3 Standardized Device Profile Area ........................ 26 Appendix Pin Assignments ............................27 Assignment cable (connection – L) and connector 1 x M12 (connection – N) ..........27 Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 3/27 Frauenfeld, Switzerland...
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Page 4: Version Overview
- Electronic gear function added chapter 4.3.5 and 10.2 - Scaling function expanded up to 16Bit ST - New „speed Filter time“ default value of 50ms (Object 4001h) range reduced from 4000 ms to 500 ms Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 4/27 Frauenfeld, Switzerland... -
Page 5: Safety And Operating Instructions
Ideally, aim at dual connection to protective earth (PE), i.e. housing by mechanical assembly and cable shield by the downstream devices. Supplementary information The present manual is intended as a supplement to already existing documentation (e.g. catalogues, data sheets or mounting instructions). Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 5/27 Frauenfeld, Switzerland... -
Page 6: Product Assignment
3 Product Assignment Absolute encoder Product Absolute encoder single- or multiturn encoder EAMxxx Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 6/27 Frauenfeld, Switzerland... -
Page 7: System Overview
Direction Scaling (singleturn resolution/turn, Full resolution) Preset PDU2 parameters Object mapping Cyclic time Baudrate Group extension Customer EEPROM (4x 32-Bit) Save/Restore commands BAM messages Transport protocol Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 7/27 Frauenfeld, Switzerland... -
Page 8: Function Principle
The scaling of speed and position objects can be adapted in the objects 6001h or 6002h. Relationship between object 6001h and 6002h: Total measuring range Measuring units per revolution Number of distinguishable revolutions (Value Object 6002h) (Value Object 6001h) (Value Object 6502h) Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 8/27 Frauenfeld, Switzerland... -
Page 9: Position Range
The range for object 2120h-1 Speed encoder A is -8000h…7FFF’h. If the scaled speed value exceeds this range, the output is -8000h or 7FFFh (Saturated Logic). Figure 3: Speed range 7FFFh 0000h FFFFh Speed 8000h Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 9/27 Frauenfeld, Switzerland... -
Page 10: Electronic Gear Function
Encoder as standard component with embedded software used in safety functions If this standard encoder is used in safety functions, please request the according “Application Note MAGRES EAM” for further information. Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 10/27 Frauenfeld, Switzerland... -
Page 11: Can Frame
PGN (65450 + Group Extension) Containing always the own address (default-value: 172). Source address This address is claimed with the NM Service (see address (ECU address) claiming) Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 11/27 Frauenfeld, Switzerland... -
Page 12: Parameter Group Number
PDU Format Source address Address Data page Page (PF) (ECU address) Group extension 0xAC Value 0xEF 0x00 28 … 26 23 … 16 15 … 8 7 … 0 Cob-ID [Hex] 0x18EFAC00 Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 12/27 Frauenfeld, Switzerland... -
Page 13: Network Management Service
When it is detected, that another device using the same address, the own name field is also broadcasted on the bus. The device with the lower priority (higher Identifier) needs to increment its own address by one and broadcast the name-field on the bus again. Save and restore commands Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 13/27 Frauenfeld, Switzerland... -
Page 14: Pgn65450 - Cyclic Message (Pdu2 Format)
Interpretation 0 … 3 Position Value (14-Bit ST, 18Bit MT) 73B79118h Multiturn-Value = 118478d Singleturn-Value = 4376d 4 … 5 Speed Value F021h - 4063d rpm Warning Frequency exceeded Error Position Error Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 14/27 Frauenfeld, Switzerland... -
Page 15: Mapping
Object 2117h Subindex 00h, data length 16 Bit Speed [rpm] 0x21180010 Object 2117h Subindex 00h, data length 16 Bit Time Stamp 0x21200010 Object 2120h Subindex 00h, data length 16 Bit Default mapping of absolute encoder 7.3.2 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4... -
Page 16: Pgn61184 - Encoder Parameters And Values (Pdu1 Format)
The LSB of Index and Data bytes are always transferred first (see examples). CMD Codes CMD-Codes Description Writing request, unspecified length Writing request, 4 bytes Writing request, 3 bytes Writing request, 2 bytes Writing request, 1 bytes Read command Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 16/27 Frauenfeld, Switzerland... -
Page 17: Response Frame Format For Pdu1
0601 0002h Write-Access not supported to object Object doesn‘t exist 0602 0000h Sub-Index doesn’t exist 0609 0011h 0609 0030h Value out of Range 0609 0031h Value too high 0609 0032h Value too low Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 17/27 Frauenfeld, Switzerland... -
Page 18: Object Descriptions And Examples
Byte 4 … 7 (6C, 6Fh, 61h, 64h) Example of restoring the application parameters: Protocol Data Unit (PDU) Byte 0 … 7 [hex] Description Identifier Send restoring of all parameters 18EFAC00h Successful response by encoder (60h) 18EF00ACh Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 18/27 Frauenfeld, Switzerland... -
Page 19: 0X1018-2 Reading Of The Product Code
0x1018-2 Reading of the product code Product-Code Product Device Name (Byte 6 and Byte 7) Absolute encoder multiturn 0x0070 EAMxxx MT Absolute encoder singleturn 0x0071 EAMxxx ST Byte 5: Major Product Code Byte 4: Minor Product Code Example of reading the product code Protocol Data Unit (PDU) Byte 0 …... -
Page 20: 0X2100 Baudrate
Byte 0 … 7 [hex] Description Identifier Write Measuring Units to Encoder 18EFAC00h Successful response by encoder (60h) 18EF00ACh Optional send saving of all parameters 18EFAC00h Optional successful response by encoder 18EF00ACh (60h) Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 20/27 Frauenfeld, Switzerland... -
Page 21: 0X6003 Preset Value Encoder
Cyclic PGN65450 with Group Ext. 33h 18FFDDACh Example of Reading Group Extension Protocol Data Unit (PDU) Byte 0 … 7 [hex] Description Identifier Read Group Extension of encoder 18EFAC00h Response by encoder with 00h 18EF00ACh Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 21/27 Frauenfeld, Switzerland... -
Page 22: 0X2104 Transmission Rate For Pgn65450
Cyclic PGN65450 is sent every 500ms Example of Reading tPGN65450 transmission time Protocol Data Unit (PDU) Byte 0 … 7 [hex] Description Identifier Read transmission time of encoder 18EFAC00h Response by encoder with 1F4h 18EF00ACh Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 22/27 Frauenfeld, Switzerland... -
Page 23: 0X2117 Encoder Diagnostics
Set, when the maximum operating temperature is exceeded Bit 4 Bit 4 CommErr: Communication Error 0x1001 Error Set, when a communication error has been detected (Bus off, Bus Warning, RX overflow) Bit 0-3 Reserved fields Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 23/27 Frauenfeld, Switzerland... -
Page 24: Object Directory
1018h Identity object Largest subindex Vendor ID Vendor ID Product code Product code: 70h = EAMxxx Multiturn Encoder 71h = EAMxxx Singleturn Encoder Revision number Product revision No. Serial number Serial No. Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 24/27 Frauenfeld, Switzerland... -
Page 25: Manufacturer Specific Profile Area
Customer EEPROM to save any data Largest Subindex CustomerEEPROM[0] CustomerEEPROM[1] CustomerEEPROM[2] CustomerEEPROM[3] 4001h Speed sampling interval in ms 50 X The speed sampling interval sets up the sampling interval of the speed calculation Range 1…500ms Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 25/27 Frauenfeld, Switzerland... -
Page 26: Standardized Device Profile Area
Offset encoder (Internally linked to object 650Ch-1) 650Ah Module identification Array Largest Subindex Manufacturer offset 650Bh Serial number Internally linked to object 1018h-4h 650Ch Offset values Array Largest subindex Offset encoder [step] 0h X Offset encoder A Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 26/27 Frauenfeld, Switzerland... -
Page 27: Appendix
CAN bus Signal (dominant HIGH) CAN_L CAN bus signal (dominant LOW) Assignment cable (connection – L) and connector 1 x M12 (connection – N) Cable Cable color grey brown white green CAN_H yellow CAN_L pink blue Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG 06.08.2018 27/27 Frauenfeld, Switzerland...