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 17 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! MAN-PT-E-11 www.asm-sensor.com 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 19 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 MAN-PT-E-11 www.asm-sensor.com 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 www.asm-sensor.com MAN-PT-E-11 21 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 22 MAN-PT-E-11 www.asm-sensor.com ASM GmbH