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Baumer Electric AG

06.08.2018

14/27

Frauenfeld, Switzerland

7 PGN65450 - cyclic message (PDU2 Format)

7.1

General

The device supports a cyclic PDU2 message with PGroupExtenstion, which can be used for cyclic

transmitting of the encoder values.

The data/objects which are sent with the PDU2 can be ordered customer specific. The cycle time, can be configured.

7.2

Frame Format

Protocol Data Unit (PDU)

Description

Identifier

DLC

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Value (example)

18FFAAACh 8

18h

91h

B7h

73h

21h

F0h

01h

40h

Interpretation of the values according the example values:

Identifier:

Priority:

PGN:

FFAAh = 65450d

Group Extension:

ACh

= 172d

Data-Bytes are according to the defined mapping.

Default-mapping is:

PDU:

Bytes

Description

Hex-Value from example

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

01h

Frequency exceeded

Error

40h

Position Error

Содержание Absolute encoder

Страница 1: ...rasse 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 Manual Abso...

Страница 2: ...59 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 Timi...

Страница 3: ...06 08 2018 3 27 Frauenfeld Switzerland 10 Object directory 24 10 1 Communication Profile Area 24 10 2 Manufacturer Specific Profile Area 25 10 3 Standardized Device Profile Area 26 Appendix A Pin Assi...

Страница 4: ...ownload on www baumer com Document index Date Firmware version CANopen Revision Number Obj 1018 Author Changes 0001 11 07 17 From V01 03 0003 0000h blk Initial version replaces all draft documents 000...

Страница 5: ...oder shaft with a suitable coupling Hollow shaft Open clamping ring completely before mounting the encoder Foreign objects must be kept at a sufficient distance from the stator coupling The stator cou...

Страница 6: ...80_360_SAE_J1939_MA_EN_Rev0003 0000h_Index0002 docx Baumer Electric AG 06 08 2018 6 27 Frauenfeld Switzerland 3 Product Assignment 3 1 Absolute encoder Product Absolute encoder single or multiturn enc...

Страница 7: ...lowing J1939 services are supported Network Management PGN60928 o Address claiming with Name Field PGN65450 Group Extension PDU1 o Cyclic process data o Following Objects can be mapped into this PGN P...

Страница 8: ...tion User Zero Point Offset Physical Position Speed Calculating Scaling Scaling Inc Inc Inc Inc Inc s Steps Steps s 4 3 2 Scaling The scaling of speed and position objects can be adapted in the object...

Страница 9: ...0 1 This object provides a 32 Bit Speed information which has the unit Steps sec The range for object 6030h 1 Speed encoder A is 8000 0000h 7FFF FFFFh If the scaled speed value exceeds this range the...

Страница 10: ...r The range of this integer value is 1 32767 Figure 1 Example configuration of gear values obj 2001h 3h GearValue2 eg 8 teeth Example discrete gear with number of teeth obj 2001h 2h GearValue1 eg 17 t...

Страница 11: ...e defined by the data range of the PDU format field PF Values 0 240 called as PDU1 Format Peer to Peer and broadcast communication Field Destination Address always contains the receivers address or br...

Страница 12: ...format with Group Extension is used Group Extension 0xAA ECU Address 172 0xAC Parameter Group Number Description Priority Extended Data page Data Page PDU Format PF Destination Address Group extension...

Страница 13: ...Bit 4 Bit 3 Bit 1 Bit PGN60159 8 Serial Nr Manufact code ECU Instance Function Instance Function Res Vehicle System Vehicle Instance Industry Group Arbitrary Address capable EAMxxx 18EEFFACh 8 A7E7 7...

Страница 14: ...d 7 2 Frame Format Protocol Data Unit PDU Description Identifier DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Value example 18FFAAACh 8 18h 91h B7h 73h 21h F0h 01h 40h Interpretation of...

Страница 15: ...0x21180010 Object 2117h Subindex 00h data length 16 Bit Time Stamp 0x21200010 Object 2120h Subindex 00h data length 16 Bit 7 3 2 Default mapping of absolute encoder Byte 0 Byte 1 Byte 2 Byte 3 Byte 4...

Страница 16: ...et o PGN65450 cyclic message parameters Transmission rate o Baudrate o ECU default address o Group extension o Customer EEPROM 4x 32 Bit o Save Restore commands 8 1 Request frame format for PDU1 Proto...

Страница 17: ...Codes Response Code Description 80h Error occurred Check Error Code 60h Write command successfully 4Fh Reading of 1 byte of data successfully 4Bh Reading of 2 byte of data successfully 47h Reading of...

Страница 18: ...n Identifier DLC Byte 0 7 hex Send saving of all parameters 18EFAC00h 8 22 10 10 01 73 61 76 65 Successful response by encoder 60h 18EF00ACh 8 60 10 10 01 00 00 00 00 9 2 0x1011 Restoring of default v...

Страница 19: ...reading the product code Protocol Data Unit PDU Description Identifier DLC Byte 0 7 hex Reading of the product code 18EFAC00h 8 40 18 10 02 00 00 00 00 Response by encoder 0071h Singleturn Encoder 18...

Страница 20: ...e 60h 18EFAAACh 8 60 00 21 00 00 00 00 00 Send saving of all parameters 18EFAC00 8 22 10 10 01 73 61 76 65 Successful encoder response 60h 18EFAAACh 8 60 10 10 01 00 00 00 00 Reboot of Encoder and cha...

Страница 21: ...Position Value 18FFDDACh 8 04 02 66 52 00 00 00 00 9 8 0x2103 Group Extension The group extension is a 8 Bit value which is transmitted in Byte 4 Example of changing the Group Extension to 55h Protoco...

Страница 22: ...ging of transmission time to 500ms 18EFAC00h 8 22 04 21 00 F4 01 00 00 Successful response by encoder 60h 18EF00ACh 8 60 04 21 00 00 00 00 00 Optional Send saving of all parameters 18EFAC00h 8 22 10 1...

Страница 23: ...2 Bit 3 0x6505 Warning OpTimeLim Operating time limit Set when a possible problem with the non volatile memory is detected Encoder should be replaced to guarantee absolute position Bit 1 Bit 2 0x6505...

Страница 24: ...evicename EAMxxx MT EAMxxx ST 1009h Hardware Version STR ro Hardware version in ASCII 100Ah Software Version STR ro Software version in ASCII 1010h Store parameters ARR 00h Largest Subindex U8 ro 4h N...

Страница 25: ...gear factor Range 1 32767 2102h ECU default address U8 rw ACh X ECU Address Address Range 0 253 2103h Group Extension PDU2 U8 rw 0h X Group Extension used for PDU2 proprietary B 2104h PGN65450 Transm...

Страница 26: ...function enabled 6501h Used single turn resolution step rev U32 ro 4000h 6502h Number of distinguishable revolutions U16 ro FFFFh 6503h Alarms U16 ro m 0h The following alarms are evaluated Bit0 Posit...

Страница 27: ...y isolated encoders are listed below non isolated on request Description signal description Vs Supply voltage 0 V Supply voltage CAN_GND CAN bus ground CAN_H CAN bus Signal dominant HIGH CAN_L CAN bus...

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