POSITILT ®

POSITILT ®
CAN SAE J1939 Output Specification
Description
Interface J1939
NAME Fields
Parameter Group
Numbers (PGN)
Specifications
Inclination sensor according to standard SAE J1939. Configuration of operating parameters by ­proprietary-A-­Message (peer-to-peer connection).
Process data exchange by ­proprietary-B-Message (broadcast).
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
Configuration data
PGN EFddh
Process data
PGN FFnnh
Excitation voltage
Excitation current
Measuring rate
Stability (temperature)
Repeatability
Operating temperature
Protection
EMC
8 ... 36 V DC
15/30 mA typical for 24/12 V, 100 mA max.
1 kHz standard
±100 x 10-6 / °C f.s.
1 LSB
-40 ... +85 °C
Reverse polarity, short circuit
EN61326-1:2006
ASM GmbH
www.asm-sensor.com
Yes
Global
Non specific
Non specific
Manufacturer ID
Serial number 21 bit
Proprietary-A
(PDU1 peer-to-peer)
dd Sensor Node ID
Proprietary-B
(PDU2 broadcast);
nn Group Extension
(PS) configurable
MAN-PT-E-11
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POSITILT ®
CAN-SAE J1939 Output - set up procedure
Setup
procedure
­Node-ID
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!
18
•
Precautions to prevent danger for man or machine are necessary!
•
Execute parametrizing at standstill of the machine only!
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ASM GmbH
POSITILT ®
CAN-SAE J1939 Output - set up procedure
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-PT-E-11
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POSITILT ®
CAN-SAE J1939 Output - set up procedure
Configurable parameters
Index
[dec]
Default
Range / Selection
20
21
247
3 (250kB)
128 ... 247
-
rd/wr 1)
rd/wr 1)
Termination resistor
22
0
0 (OFF)
1 (ON)
rd/wr 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
69
1
Code sequence_X
70
0
Code sequence_Y
71
0
Resolution (in 0.001°)
Preset 1 axis X/Y
Preset 2 axes X
Preset 2 axes Y
Averaging Filter
Identification
SW Version
Serial number
Identity number
73
74
75
76
77
100
0
0
0
1
198
199
200
-
Parameter
Control
Node ID
Baude rate
Measurement
1 axis ±180°
2 axes ±60°
1)
2)
0 timer
1 request
2 event
10..65535
0..255
0..16383
0 little /
1 big endian
0: 1 axis
80h: 2 axis
0 CW
1 CCW
0 CW
1 CCW
10 ... 10000
±0,1..
±0,1..
±0,1..
1...255
-
4 bytes
4 bytes
21 bit
Unit
Read /
Write
rd/wr
ms
steps
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
rd/wr
deg
deg
deg
deg
rd/wr
rd/wr
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
Depending on configuration ordered default settings may be different, refer to ASM homepage.
20
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ASM GmbH
POSITILT ®
CAN-SAE J1939 Output - set up procedure
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 *)
*)
B6
B5
B4
B3
B2
Inclination Y
MSB
LSB
B1
B0
Inclination X
MSB
LSB
Error codes: 0 = no error, 1 = error
ASM GmbH
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MAN-PT-E-11
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POSITILT®
Connecting cables
Signal wiring /
connection
CAN bus
wiring
Signal name
View to sensor connector
Connector pin
Shield
Excitation +
GND
CAN-H
CAN-L
1
2
3
4
5
Connect the device by a T-connector to the CAN trunk line. Total length of
stubs should be minimized. Connect terminating resistors 120 Ohm at both
ends of the trunk line.
Terminating
resistor
Cable
T
Device 1
Cable
Terminating
resistor *
T
T
Device 2
Device n
* Only if device n has no
internal terminating resistor
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MAN-PT-E-11
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ASM GmbH