Table Of Contents - Baumer Absolute encoder Manual

Contents
1 Version overview ......................................................................................................................................... 4
2 Safety and operating instructions .............................................................................................................. 5
3 Product Assignment .................................................................................................................................... 6
3.1 Absolute encoder ........................................................................................................................................... 6
4 System Overview ......................................................................................................................................... 7
4.1 General .......................................................................................................................................................... 7
4.2 Supported J1939 Services ............................................................................................................................. 7
4.3 Function Principle .......................................................................................................................................... 8
4.3.1 Overview ........................................................................................................................................................ 8
4.3.2 Scaling ........................................................................................................................................................... 8
4.3.3 Position Range .............................................................................................................................................. 9
4.3.4 Speed range .................................................................................................................................................. 9
4.3.5 Electronic gear function ............................................................................................................................... 10
4.4 Encoder as standard component with embedded software used in safety functions ................................... 10
5 CAN Frame ................................................................................................................................................. 11
5.1 Identifier ....................................................................................................................................................... 11
5.2 Parameter Group Number (PGN) ................................................................................................................ 12
5.2.1 Identifier Examples ...................................................................................................................................... 12
6 Network Management Service .................................................................................................................. 13
6.1 NAME Field (PGN 60159) ........................................................................................................................... 13
6.2 Address Claiming ......................................................................................................................................... 13
7 PGN65450 - cyclic message (PDU2 Format)............................................................................................ 14
7.1 General ........................................................................................................................................................ 14
7.2 Frame Format .............................................................................................................................................. 14
7.3 Mapping ....................................................................................................................................................... 15
7.3.1 Mappable objects ......................................................................................................................................... 15
7.3.2 Default mapping of absolute encoder .......................................................................................................... 15
7.4 Timing .......................................................................................................................................................... 15
7.5 Exceptions of accurate calculation of process data ..................................................................................... 15
8 PGN61184 - Encoder Parameters and values (PDU1 Format) ................................................................ 16
8.1 Request frame format for PDU1 .................................................................................................................. 16
8.2 CMD Codes ................................................................................................................................................. 16
8.3 Response Frame format for PDU1 .............................................................................................................. 17
8.4 Response Codes ......................................................................................................................................... 17
8.5 Error-Codes ................................................................................................................................................. 17
9 Object descriptions and examples ........................................................................................................... 18
9.1 0x1010 Saving of parameters ...................................................................................................................... 18
9.2 0x1011 Restoring of default values .............................................................................................................. 18
9.3 0x1018-2 Reading of the product code ........................................................................................................ 19
9.4 0x6507 Reading of the software version ...................................................................................................... 19
9.5 0x2100 Baudrate ......................................................................................................................................... 20
9.6 0x6001 Measuring units per revolution ........................................................................................................ 20
9.7 0x6003 Preset value encoder ...................................................................................................................... 21
9.8 0x2103 Group Extension ............................................................................................................................. 21
9.9 0x2104 Transmission rate for PGN65450 .................................................................................................... 22
9.10 0x2117 Encoder Diagnostics ....................................................................................................................... 23
Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx
06.08.2018 2/27
Baumer Electric AG
Frauenfeld, Switzerland