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Summary of Contents for Baumer GCA Series
- Page 1 Manual Cable transducers GCAxx with SAE J1939 interface Inclination sensor integrated (option) Baumer Sensors Srl Via Caduti del lavoro 9 25032 Chiari (Bs) Phone +39 030 7000916 12.23 info.bsit@baumer.com Subject to modification in technic and design www.baumer.com Errors and omissions excepted...
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Page 2: Table Of Contents
0x6010-XX Length preset ............................26 11.9 0x2103 Digital low pass filter configuration for length .................... 26 11.10 0x6800 Angle resolution ............................ 27 11.11 Angle offset parameters ............................ 27 11.11.1 Operating parameters ............................27 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 2/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... - Page 3 0x3104/0x3107 Transmission rate for PGN 65363/PGN 65364 ................ 31 11.16 0x6503 Sensor Diagnostics ..........................31 Object directory ..............................32 12.1 Communication profile area ........................... 32 12.2 Manufacturer specific profile area ......................... 32 12.3 Standardized device profile area ........................... 34 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 3/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy...
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Page 4: Version Overview
The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer rejects any liability for the information compiled in the present manual. Baumer nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. -
Page 5: Safety And Operating Instructions
This manual is intended as a supplement to already existing documentation (catalogues, data sheets and assembly instructions). The manual must be read without fail before initial commissioning of the equipment. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 5/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 6: Product Assignment
3 Product Assignment Cable transducer Product Cable transducer GCAxx with J1939 interface Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 6/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 7: System Overview
Sensor parameters - Angle Resolution Operating parameters Preset Digital angle low pass filter Transmission Time Baudrate Group Extension ECU address Save and Restore commands BAM messages Transport protocol Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 7/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 8: Function Principle
In a sensor with redundant design (2-sensing), there are two primary sensors that are read by a single node with a single ECU address connected to the network. The values of each primary sensor read by the node are written to separate objects. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 8/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 9: Can Frame
PGN 65280 (0xFF00) + Group Extension (0x53) = PGN 65363 (0xFF53) PGN 65280 (0xFF00) + Group Extension (0x54) = PGN 65364 (0xFF54) Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 9/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 10: Parameter Group Number
0xEF (Value < 240 -> PDU1 format with Destination Address is used) PDU Specific = 0x04 (default address of ECU, could be higher, according to address claim) Source address = 0x00 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 10/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... - Page 11 Description Priority Extended Data PDU Format PDU Specific Source address Data page Page Value 0xEF 0x04 0x00 28 … 26 23 … 16 15 … 8 7 … 0 Cob-ID 0x18EF0400 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 11/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy...
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Page 12: Network Management Service
When it is detected, that another device is using the same source address, the device with the lower priority (higher device name) increments its own source address by one and broadcast the name-field on the bus again. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 12/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 13: Pgn 65363 - Cyclic Message (Pdu2 Format)
Priority: PGN: 0xFF53 = 65363 Source Address: 0x04 Data-Bytes are according to the defined mapping. Default-mapping is: PDU: Bytes Description Example Interpretation 0…1 Position Value CH1 0xE10 Position Value = 3600 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 13/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 14: Mapping
Byte 4…5 Speed value CH1 Datatype: 2 Byte, S16 Resolution: According to scaling factors (see parametrization) Byte 6…7 Error flags CH1 Datatype: 2 Byte, U16 See Object description in chapter 11.16 0x6503 Sensor Diagnostics Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 14/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 15: Mappable Objects
The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and alarms: Non-volatile memory operations (save and load parameters) Changing the scaling parameters Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 15/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 16: Pgn 65364 - Cyclic Message (Pdu2 Format)
Data-Bytes are according to the defined mapping. Default-mapping is: PDU: Bytes Description Example Interpretation 0…1 Inclination Value CH1 0x384 Inclination Value = 900 2…3 Inclination Value CH2 0x384 Inclination Value = 900 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 16/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 17: Mapping
The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and alarms: Non-volatile memory operations (save and load parameters) Changing the scaling parameters Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 17/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 18: Mapping Procedure
X is: 0 for PGN 65363, 1 for PGN 65364 OBJ_NBR increase starting from 1 to maximum 8 every object associated mapped. SIZE is: 0x8 for 1 byte object 0x10 for 2 byte object Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 18/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... - Page 19 (Object 0x180X-01 bit 31 =0) Successful response (0x60) 0x18EF0004 * 0xn84: COB-ID for PDOX Where: X is: 0 for PGN 65363, 1 for PGN 65364 n is: 1 for PGN 65363, 2 for PGN 65364 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 19/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy...
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Page 20: Pgn 61184 - Sensor Parameters And Values (Pdu1 Format)
10.2 CMD Codes CMD-Codes Description 0x22 Writing request, unspecified length 0x23 Writing request, 4 bytes 0x27 Writing request, 3 bytes 0x2B Writing request, 2 bytes 0x2F Writing request, 1 bytes 0x40 Read command Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 20/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 21: Response Frame Format For Pdu1
Write-Access not supported to object 0x0602 0000 Object doesn‘t exist 0x0609 0011 Sub-Index doesn’t exist 0x0609 0030 Value out of Range 0x0609 0031 Value too high 0x0609 0032 Value too low Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 21/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 22: Object Descriptions And Examples
Writing “load” (ASCII) to 0x1011-01 restores all parameters from the non-volatile memory. Object 0x1011-02 Not used for J1939 Object 0x1011-03 Writing “load” (ASCII) to 0x1011-03 restores the application parameters (12.3 Standardized device profile area) from the non-volatile memory. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 22/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 23: Safe Non-Volatile Operation
Protocol Data Unit (PDU) Byte 0 … 7 [hex] Obj. Obj. Sub- Description Identifier index Data 0 Data 1 Data 2 Data 3 Reading of product code 0x18EF0400 Successful response (0x60) 0x18EF0004 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 23/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 24: 0X1009 Reading Of The Hardware Version
Identifier index Data 0 Data 1 Data 2 Data 3 Changing baudrate to 0x18EF0400 Successful response (0x60) 0x18EF0004 Remark: the new parameter value will be effective at the next power cycle. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 24/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 25: Length Direction
R0...R3 is the measurement unit of the output length, expressed in nm (Nanometer). For example, to obtain a resolution of 1mm: 1mm = 1’000’000nm = 0x000F4240 Thus: R0 = 0x40, R1 = 0x42, R2 = 0x0F, R3 = 0x00 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 25/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 26: 0X6010-Xx Length Preset
For example, to write a cut-off frequency of 10%: 10% = 0xA Thus: R0 = 0x0A, R1 = 0x00 Remark: the new parameter value will be effective at the next power cycle. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 26/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 27: 0X6800 Angle Resolution
If scaling is disabled, the Slope value is equal to the physically measured angle. The operating parameters are applied for the according slope. The table below shows the correspondences between the object and the influenced slope. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 27/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 28: Angle Preset
This object indicates the shifting of the Slope value independent of the Angle preset value and the Offset value. The value shall be given in angular degrees with the resolution given in object 0x6800. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 28/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 29: 0X2603 Digital Low Pass Filter Configuration For Angle
Thus: R0 = 0x04, R1 = 0x00 Remark: the new parameter value will be effective at the next power cycle. 11.13 0x3102 ECU address The ECU address is a 8-Bit value, which is transmitted in Byte 4. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 29/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 30: 0X3103/0X3106 Length/Angle Group Extension
Protocol Data Unit (PDU) Byte 0 … 7 [hex] Obj. Obj. Sub- Description Identifier index Data 0 Data 1 Data 2 Data 3 Reading Group Extension 0x18EF0400 Successful response (0x60) 0x18EF0004 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 30/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 31: 0X3104/0X3107 Transmission Rate For Pgn 65363/Pgn 65364
Set when wire break or over stroke error occurred Length sensor error Set when communication with the length sensor fails Accelerometer sensor error Set when communication with the accelerometer sensor fails Not used Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 31/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... -
Page 32: Object Directory
Sub- Name Format Access Default Save Description index value Length raw channel Number of the entries value 0x2000 Length raw value ro, m length in 0.1mm (internal raw value) channel 1 Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 32/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... - Page 33 0x2196 rw, m 0x00000000 area (e.g. customer name) IIR coefficient expressed in Hz (lower values->more 0x2603 Angle filter strength 0x1E filtering) 0x3000 Baud rate 0x03 0=1000 kbits/s 1=800 kbits/s 2=500 kbits/s Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 33/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy...
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Page 34: Standardized Device Profile Area
Speed value Channel ro, m 0x6503 Alarm ro, m 0x00 See paragraph 11.16 for details This object shall indicate the resolution of Slope 0x6800 Resolution Angle** 0x0064 long16-bit (object 0x6810) based on 0,001°. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 34/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy... - Page 35 Slope long16-bit offset (object 0x7012 0x0000 2*** 0x7013). The Slope long16-bit offset is calculated with respect to object 0x7014. The value shall be given in degree (angle) with the resolution given in object 0x6800. Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 35/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy...
- Page 36 ** The inclinometer objects 0x6800...0x6914 and 0x6E11 exist only for products with integrated inclinometer. The inclinometer objects 0x7010...0x7114 and 0x7511 exist only for products with integrated inclinometer and redundant version (2- sensing). Baumer_GCAxx_SAEJ1939_EN_D0.03.docx 36/36 Baumer Sensors Srl 18.04.2024 Chiari (Bs), Italy...
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