POSIROT ® – PRDS Output CAN-SAE J1939 Description Interface J1939 NAME Fields Parameter Group Numbers (PGN) Specifications ngular encoder according to standard SAE J1939. Customer configuration A of operating parameters by Peer-to-Peer. Process data exchange by Broadcast message. CAN specification Transceiver Communication profile Baud rate Internal temination resistor Address ISO 11898, Basic and Full CAN 2.0 B 24V-compliant, not isolated SAE J1939 250 kBit/s 120 Ω Default 247d, configurable Arbitrary address capable Industry group Vehicle system Vehicle system instance Function Function instance ECU instance Manufacturer Identity number 1 0 7Fh (127d) 0 FFh (255d) 0 0 145h (325d) 0nnn Yes Global Non specific Configuration data PGN EFddh Process data PGN FFnnh Proprietary-A (PDU1 peer-to-peer) dd Sensor Node ID Proprietary-B (PDU2 broadcast); nn Group Extension (PS) configurable Excitation voltage Excitation current Resolution Linearity Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation 8 ... 36 V DC Typ. 15/30 mA for 24/12 V, 100 mA max. 0.05° max. 1° (0.25° as option) 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +105 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326:2004, table A1 ASM GmbH www.asm-sensor.com Non specific Manufacturer ID Serial number 21 bit MAN-PRDS-E-11 25 POSIROT ® – PRDS Output CAN-SAE J1939 Setup ode-ID N The default Node-ID the sensor will claim on power up is user or factory configurable. The user can configure by ”Commanded Address” service according to the J1939 standard or by Peer-to-Peer message as described below. User configuration User accessible parameters including node-id may be configured by peerto-peer proprietary A message PGN 0EF00h. The parameters are accessed by byte-index and read/write operations coded in the data frame. The slave will return the data frame including the acknowledge code. Parameter values will be effective immediatly. On execution of ”Store Parameters” the configuration is saved nonvolatile. Peer-to-peer message (PGN 0x00EF00), send/receive format PGN PGNHIGH 8 Byte data frame PGNLOW (Node-ID) Index Rd/Wr 0 Ack 4-Byte Data i 0/1 0 0 LSB .. .. MSB i 0/1 0 a LSB .. .. MSB Request: Control Unit → Sensor → 0EFh dd Response: Control Unit ← Sensor ← 0EFh a: dd: cc: Acknowledge codes: 0: Acknowledge, 81: Read only parameter, 82: Range overflow, 83: Range underflow, 84: Parameter does not exist Sensor Node-ID (Default 0F7h, 247d) Control-Unit Node-ID cc Warning notice • Changing the parameters can cause a sudden step of the instantaneous value and can result in unexpected machine (re)actions! 26 • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! MAN-PRDS-E-11 www.asm-sensor.com ASM GmbH POSIROT ® – PRDS Output CAN-SAE J1939 Configuration examples Example: Set Transmit Cycle to 10ms, Index 31, Node-ID 247d (F7h) PGNHIGH PGNLOW 8 Byte data frame → 0EFh F7h 1Fh 01h 00 00 0Ah 00 00 00 ← 0EFh cc 1Fh 01h 00 00 0Ah 00 00 00 Example: Read Transmit Cycle value, Index 31 → 0EFh F7h 1Fh 00 00 00 00 00 00 00 ← 0EFh cc 1Fh 00 00 00 0Ah 00 00 00 Example: Store Parameters permanently, Index 28 → 0EFh F7h 1Ch 01h 00 00 65h 76h 61h 73h ← 0EFh cc 1Ch 01h 00 00 65h 76h 61h 73h Example: Reload factory defaults, Index 29 → 0EFh F7h 1Dh 01h 00 00 64h 61h 6Fh 6Ch ← 0EFh cc 1Dh 01h 00 00 64h 61h 6Fh 6Ch ASM GmbH www.asm-sensor.com MAN-PRDS-E-11 27 POSIROT ® – PRDS Output CAN-SAE J1939 Encoder - Parameters Configuration No. PRDS-CANJ1939-CFG0010 (= default configuration) Index [dec] Default Range / Selection 20 21 247 3 (250kB) 128 ... 247 - rd/wr 1) rd 1) Termination resistor 22 0 - rd 1) Store parameters Reload factory defaults Communication 28 29 - ”save” 2) ”load” 2) wr wr Transmit mode 30 0 Transmit cycle PGN Group Extension Event mode hysteresis 31 32 38 100 0 0 Process data byte order 39 0 Code sequence 70 0 Measuring steps per turn Preset Averaging filter Identification SW Version Serial number Identity number 73 74 77 2 0 1 198 199 200 - Parameter Control Node ID Baude rate 0 timer 1 request 2 event 10..65535 0..255 0..16383 0 little / 1 big endian Measurement 0 CW 1 CCW 1.. 214 0.. 214 - 1 1...255 14 4 bytes 4 bytes 21 bit - Unit Read / Write rd/wr ms steps rd/wr rd/wr rd/wr rd/wr rd/wr steps steps rd/wr rd/wr rd/wr number number number rd rd rd Effective on next power-up „save“ MSB...LSB: 73h, 61h, 76h, 65h „load“ MSB...LSB: 6Ch, 6Fh, 61h, 64h 1) 2) Depending on configuration ordered default settings may be different, refer to ASM homepage. Process data Process data are transmitted by broadcast proprietary-B-Message PGN 0x00FFxx where the low byte is configurable. Data field of process data B7 Error Byte *) *) B5 B4 B3 MSB B2 B1 Position value B0 LSB Error codes: 0 = no error, 1 = error 28 B6 MAN-PRDS-E-11 www.asm-sensor.com ASM GmbH POSIROT ® – PRDS Output CAN-SAE J1939 Signal wiring / connection CAN bus wiring Signal name Connector pin Wire color 1 2 3 4 5 Braid White Brown Blue Black Shield Excitation + GND CAN-H CAN-L View to sensor connector Connect the device by a T-connector to the CAN trunk line. Total length of stubs should be minimized. Do not use single stub lines longer than 0.5 m. Connect terminating resistors 120 Ohm at both ends of the trunk line. Terminating resistor Cable T Cable Device 1 Terminating resistor T T Device 2 Device n Accessories Accessory cable M12, 8 pin Connector pin / cable color 1 White 2 Brown 3 Green 4 Yellow ASM GmbH www.asm-sensor.com 5 Grey 6 Pink 7 Blue 8 Red MAN-PRDS-E-11 29