Pepperl+Fuchs ENA36HD-S J1939 Series, Communications Manual

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201
8-0
2
8
Encoders with J1939 Interface
Read and Write Definitions
4 Read and Write Definitions
4.1 Read Definitions
Identifier CAN data Description
18EA2000 01 EF 00 00 00 00 00 00 Read request, direction of
rotation
18EA2000 01 00 00 00 00 00 00 00 Encoder response
Index 01, direction of rotation
0x0000 = cw
18EA2000 02 EF 00 00 00 00 00 00 Read request, singleturn
resolution
18EA2000 02 00 10 00 00 00 00 00 Encoder response
Index 02, singleturn resolution
0x00001000 = 4,096
steps/revolution
18EA2000 03 EF 00 00 00 00 00 00 Read request, total resolution
18EA2000 03 00 00 00 80 00 00 00 Encoder response
Index 03, total resolution
0x80000000 = 2,147,483,648
steps
18EA2000 05 EF 00 00 00 00 00 00 Read request, cycle time
18EA2000 05 32 00 00 00 00 00 00 Encoder response
Index 05, PGN 65450 cycle
time
(position, speed, diagnosis)
0x0032 = cyclic
communication 50 ms
18EA2000 07 EF 00 00 00 00 00 00 Read request, baudrate
18EA2000 07 04 00 00 00 FF FF FF Encoder response
Index 07, baudrate
0x04 = 250 kbaud
18EA2000 08 EF 00 00 00 00 00 00 Read request, encoder node
ID
18EA2000 08 20 00 00 00 FF FF FF Encoder response
Index 08, node ID
0x20 = 32
18EA2000 09 EF 00 00 00 00 00 00 Read request, termination
resistor
18EA2000 09 00 00 00 00 FF FF FF Encoder response
Index 09, termination resistor
0x00 = termination resistor off