Baumer EAM580R-SY Посібник - Сторінка 16
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8 PGN61184 - Encoder Parameters and values (PDU1 Format)
PDU1 Format is being used for reading and writing of the encoder parameters.
The following parameters can be accessed
o
Encoder Values
o
Encoder parameters
o
PGN65450 cyclic message parameters
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
Description
DLC
Bit
8
The PF-Value (PDU Format value) is shall always be 0xEF.
The LSB of Index and Data bytes are always transferred first (see examples).
8.2
CMD Codes
CMD-Codes
Description
22h
Writing request, unspecified length
23h
Writing request, 4 bytes
27h
Writing request, 3 bytes
2Bh
Writing request, 2 bytes
2Fh
Writing request, 1 bytes
40h
Read command
Baumer_EAM580_360_EB360_SAE_J1939_MA_EN_Rev0003.0000h_Index0004.docx
05.12.2022
Position (Index 6004h)
Speed (Index 6020h / 2020h)
Diagnostic (Index 2017h)
Direction (Index 6000h)
Scaling (singleturn resolution/turn)
Preset
Transmission rate
Byte 0
Byte 1
CMD
Index
Protocol Data Unit (PDU)
Byte 2
Byte 3
Byte 4
Sub-
Index
16/27
Byte 5
Byte 6
Byte 7
Data bytes
Baumer Electric AG
Frauenfeld, Switzerland