Baumer Absolute encoder Manual - Halaman 2

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Contents

Version overview ......................................................................................................................................... 4

Safety and operating instructions .............................................................................................................. 5

Product Assignment .................................................................................................................................... 6

3.1

Absolute encoder ........................................................................................................................................... 6

System Overview ......................................................................................................................................... 7

4.1

General .......................................................................................................................................................... 7

4.2

Supported J1939 Services ............................................................................................................................. 7

4.3

Function Principle .......................................................................................................................................... 8

4.3.1

Overview ........................................................................................................................................................ 8

4.3.2

Scaling ........................................................................................................................................................... 8

4.3.3

Position Range .............................................................................................................................................. 9

4.3.4

Speed range .................................................................................................................................................. 9

4.3.5

Electronic gear function ............................................................................................................................... 10

4.4

Encoder as standard component with embedded software used in safety functions ................................... 10

CAN Frame ................................................................................................................................................. 11

5.1

Identifier ....................................................................................................................................................... 11

5.2

Parameter Group Number (PGN) ................................................................................................................ 12

5.2.1

Identifier Examples ...................................................................................................................................... 12

Network Management Service .................................................................................................................. 13

6.1

NAME Field (PGN 60159) ........................................................................................................................... 13

6.2

Address Claiming ......................................................................................................................................... 13

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

Timing .......................................................................................................................................................... 15

7.5

Exceptions of accurate calculation of process data ..................................................................................... 15

PGN61184 - Encoder Parameters and values (PDU1 Format) ................................................................ 16

8.1

Request frame format for PDU1 .................................................................................................................. 16

8.2

CMD Codes ................................................................................................................................................. 16

8.3

Response Frame format for PDU1 .............................................................................................................. 17

8.4

Response Codes ......................................................................................................................................... 17

8.5

Error-Codes ................................................................................................................................................. 17

Object descriptions and examples ........................................................................................................... 18

9.1

0x1010 Saving of parameters ...................................................................................................................... 18

9.2

0x1011 Restoring of default values .............................................................................................................. 18

9.3

0x1018-2 Reading of the product code ........................................................................................................ 19

9.4

0x6507 Reading of the software version ...................................................................................................... 19

9.5

0x2100 Baudrate ......................................................................................................................................... 20

9.6

0x6001 Measuring units per revolution ........................................................................................................ 20

9.7

0x6003 Preset value encoder ...................................................................................................................... 21

9.8

0x2103 Group Extension ............................................................................................................................. 21

9.9

0x2104 Transmission rate for PGN65450 .................................................................................................... 22

9.10

0x2117 Encoder Diagnostics ....................................................................................................................... 23

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx

06.08.2018

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Baumer Electric AG

Frauenfeld, Switzerland