J1939 Interface description
201
8-0
2
7
3.4
Position Data, PGN 61184
3.5
Encoder Message
3.6
Encoder Cyclic Message
Parameter
Value
Data page
0
PDU format
255 (0xFF)
PDU specific
170 (0xAA)
Data length
8 bytes
Byte
Description
Byte 1
Encoder absolute position
–
byte 1 (LSB)
Byte 2
Encoder absolute position
–
byte 2
Byte 3
Encoder absolute position
–
byte 3
Byte 4
Encoder absolute position
–
byte 4 (MSB)
Byte 5
Encoder speed - byte 1 (LSB) in rpm.
Byte 6
Encoder speed - byte 2 (MSB) in rpm.
Byte 7
Byte container 1 - const.
Byte 8
Byte container 2 - const.
Identifier
CAN data
Description
18FFAA20
4E B8 64 0A 0F 02 00 00
(as an example)
bytes 1 ... 4: absolute encoder
position
0x0A64B84E = 174,372,942
bytes 5 ... 6: encoder speed
0x020F = 527 rpm
bytes 7 ... 8: constant
