Baumer EAM580R-B Manuel - Page 11
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5 CAN Frame
A standard CAN-Frame with a 29-Bit identifier is being used for the J1939 bus. The data in the PDU fields will be interpreted
differently, depending on choosen PDU1 or PDU2 format, which is defined by the Identifier.
Description
Identifier
Bit
5.1
Identifier
The Identifier is defined as the CAN 29-Bit Identifier and can be configured by the user in two ways:
Configuring of default ECU address (Object 0x2102)
Configuring of Group Extension (Object 0x2103)
Description
Priority
28 ... 26
Bit
Principally, there are two different message formats used in the J1939 protocol, which are 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 broadcast (25%)
Used for Encoder parametrization
PF Values 240 ... 255 (called as PDU2 Format)
Only broadcast communication
Field Destination Address is used as Group Extension value
Used for cyclic sending values of the Encoder
Priority:
Extended Data page:
Data page:
PDU Format:
PDU1: Destination Address:
PDU2: Group Extension:
Source address
(ECU address)
Baumer_EAM580_360_EB360_SAE_J1939_MA_EN_Rev0003.0000h_Index0004.docx
05.12.2022
Byte 0
Byte 1
Byte 2
Parameter Group Number (PGN)
Extended
Data Page
Data page
25
24
As lower the value, as higher is the priority on the bus.
This value is fixed to the value 6.
Only value 0 is supported
Only value 0 is supported
If Values < 0xEF -> PDU1 format is used
If Values > 0xFE -> PDU2 format is used
PDU1: This is either the address of the Encoder,
when requesting data or this will be the address of
the ECU, which requested Data, when the Encoder
responds to a message.
PDU2: Group Extension, can used to create an
offset to the cyclic message PGN (65450 + Group
Extension)
Containing always the own address (default-value: 172).
This address is claimed with the NM Service (see address
claiming)
Protocol Data Unit (PDU)
Byte 3
Byte 4
Byte 5
Destination Address
PDU Format
Group extension
(PF)
23 ... 16
15 ... 8
11/27
Byte 6
Byte 7
Source address
(ECU address)
7 ... 0
Baumer Electric AG
Frauenfeld, Switzerland