Mapping; Mappable Objects; Default Mapping Of Absolute Encoder; Timing - Baumer Absolute encoder Manual

7.3

Mapping

The encoder supports a customer specific mapping for PGN65450, which can be specified, when ordering an encoder.

Mappable objects

7.3.1
The following objects are mappable:
Mapping content
Position encoder
Speed encoder [steps/sec]
Alarms
Warnings
Diagnostic
Speed [rpm]
Time Stamp

Default mapping of absolute encoder

7.3.2
Byte 0 Byte 1
Position[0] Position[1]
Byte 0 – 3 Encoder absolute position:
Datatype: 4 Byte, U32,
Resolution: According to scaling factors (see encoder parametrization)
Byte 4 – 6 Encoder speed value:
Datatype: 2 Byte, S16,
Resolution: [rpm]
Byte 7 – 8 (Encoder diagnostic):
See Object description in chapter 0x2117 Encoder Diagnostics
7.4

Timing

The minimal cycle time for PGN65450 is 1 ms, although the J1939 suggest to use minimal cycle times of 50 ms.
7.5

Exceptions of accurate calculation of process data

The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and
alarms:
- Changing the scaling parameters
Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx
06.08.2018
Mapping entry Description
0x60040020 Object 6004h Subindex 00h, data length 32 Bit
0x60300120 Object 6030h Subindex 01h, data length 32 Bit
0x65030010 Object 6503h Subindex 00h, data length 16 Bit
0x65050010 Object 6505h Subindex 00h, data length 16 Bit
0x21170010 Object 2117h Subindex 00h, data length 16 Bit
0x21180010 Object 2117h Subindex 00h, data length 16 Bit
0x21200010 Object 2120h Subindex 00h, data length 16 Bit
Byte 2 Byte 3
Position[2] Position[3]
Byte 4 Byte 5
Speed[0] Speed[1]
15/27
Byte 6 Byte 7
Warnings Errors
Baumer Electric AG
Frauenfeld, Switzerland