POSICHRON® Output CAN-SAE J1939 Description Interface J1939 NAME Fields Parameter Group Numbers (PGN) Specifications Linear encoder 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 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 Measuring rate Stability (temperature) Operating temperature Protection EMC 18 ... 36 V DC Typ. 30 mA for 24 V, 100 mA max. 50 µm max. 1 kHz max., depending on the mesurement range ±100 x 10-6 / °C f.s. -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 Non specific Manufacturer ID Serial number 21 bit Signal wiring and connection see previous page. Measurement rate depending on the measurement range 36 Measurement range Measurement rate 100 ... 500 mm 500 ... 1000 mm 1000 ... 2000 mm 2000 ... 4000 mm 4000 ... 6000 mm 1 ... 1.4 ms 1.4 ... 2.5 ms 2.5 ... 4.3 ms 4.3 ... 8.8 ms 8.8 ms ... 13 ms MAN-PC-E-10 www.asm-sensor.com ASM GmbH POSICHRON® Output CAN-SAE J1939 Setup procedure 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 ← a: dd: cc: 0EFh 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 Warning notice • Changing the parameters can cause a sudden step of the instantaneous value and can result in unexpected machine (re)actions! • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! ASM GmbH www.asm-sensor.com MAN-PC-E-10 37 POSICHRON® 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 0F7h 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 0F7h 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 0F7h 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 0F7h 1Dh 01h 00 00 64h 61h 6Fh 6Ch ← 0EFh cc 1Dh 01h 00 00 64h 61h 6Fh 6Ch Example: Broadcast (PGNLOW = 0FFh) - Reload factory defaults of all sensors, Index 29 → 0EFh 0FFh 1Dh 01h 00 00 64h 61h 6Fh 6Ch ← 0EFh cc 1Dh 01h 00 00 64h 61h 6Fh 6Ch Table of configurable bit rates (see next page, index 21) 38 Index 21 Bit rate 0 1 2 3 4 5 1000 kBit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s 50 kBit/s MAN-PC-E-10 www.asm-sensor.com ASM GmbH POSICHRON® Output CAN-SAE J1939 Configurable parameters Linear Encoder Parameters - Standard Configuration Index [dec] Default Range / Selection 20 21 247 3 (250kB) 128 ... 247 0 ... 5 rd/wr 1) rd/wr 2) Termination resistor 22 0 - rd 2) Store parameters Reload factory defaults Communication 28 29 - ”save” 3) ”load” 3) wr wr 2) Transmit mode 30 0 Transmit cycle PGN Group Extension Event mode hysteresis 31 32 38 100 0 1000 Process data byte order 39 0 Code sequence 70 0 Number of position magnets Measuring step Preset Averaging Filter Identification SW Version Serial number Identity number 72 73 74 77 1 50 0 1 0 CW 1 CCW 1 ... 4 1 ... 1000 0 ... 10000 1 ... 255 198 199 200 - 4 bytes 4 bytes 21 bit Parameter Control Node ID Baude rate 0 timer 1 request 2 event 10 ... 65535 0 ... 255 0 ... 10000 0 little / 1 big endian Measurement 2) 2) 3) Unit Read / Write rd/wr ms steps rd/wr rd/wr rd/wr rd/wr rd/wr µm steps rd/wr rd/wr rd/wr rd/wr number number number rd rd rd Change of Node ID by writimg to index 20 is effective immediately and initiates Address Claiming Effective on next power-up „save“ MSB...LSB: 73h, 61h, 76h, 65h „load“ MSB...LSB: 6Ch, 6Fh, 61h, 64h Broadcast access by PGNLOW = 0FFh addresses the specified index of all sensors. Process data Process data are transmitted by broadcast proprietary-B-Message PGN 0x00FFxx where the low byte is configurable. If the number of position magnets is configured to more than one magnet, position and velocity values are transmitted by a number of successive process data messages. Byte order of process data message B7 Error *) B6 M_Index 1 ... 4 B5 MSB Velocity B4 B3 LSB MSB B2 Position B1 B0 LSB *) Error codes: 0 M_Index: = no error 1,2 ... = error, number of missing magnets 081h, 082h ... = error, number of too many magnets detected Auto incrementing index for subsequent process data management in multimagnet configuration. ASM GmbH www.asm-sensor.com MAN-PC-E-10 39