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Absolute encoder
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Baumer Absolute encoder User Manual

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Manual
Absolute encoder with SAE J1939
Baumer Electric AG Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 52 728 11 22
Fax +41 52 728 11 44 08.18 sales.ch@baumer.com Subject to modification in technic and design. www.baumer.com Errors and commissions excepted
Contents
1 Version overview ......................................................................................................................................... 4
2 Safety and operating instructions .............................................................................................................. 5
3 Product Assignment .................................................................................................................................... 6
3.1 Absolute encoder ........................................................................................................................................... 6
4 System Overview ......................................................................................................................................... 7
4.1 General .......................................................................................................................................................... 7
4.2 Supported J1939 Services ............................................................................................................................. 7
4.3 Function Principle .......................................................................................................................................... 8
4.3.1 Overview ........................................................................................................................................................ 8
4.3.2 Scaling ........................................................................................................................................................... 8
4.3.3 Position Range .............................................................................................................................................. 9
4.3.4 Speed range ................................................................................................................................ .................. 9
4.3.5 Electronic gear function ............................................................................................................................... 10
4.4 Encoder as standard component with embedded software used in safety functions ................................... 10
5 CAN Frame ................................................................................................................................ ................. 11
5.1 Identifier ....................................................................................................................................................... 11
5.2 Parameter Group Number (PGN) ................................................................................................................ 12
5.2.1 Identifier Examples ...................................................................................................................................... 12
6 Network Management Service .................................................................................................................. 13
6.1 NAME Field (PGN 60159) ........................................................................................................................... 13
6.2 Address Claiming ......................................................................................................................................... 13
7 PGN65450 - cyclic message (PDU2 Format)............................................................................................ 14
7.1 General ........................................................................................................................................................ 14
7.2 Frame Format .............................................................................................................................................. 14
7.3 Mapping ....................................................................................................................................................... 15
7.3.1 Mappable objects ......................................................................................................................................... 15
7.3.2 Default mapping of absolute encoder .......................................................................................................... 15
7.4 Timing ................................ ................................ .......................................................................................... 15
7.5 Exceptions of accurate calculation of process data ..................................................................................... 15
8 PGN61184 - Encoder Parameters and values (PDU1 Format) ................................................................ 16
8.1 Request frame format for PDU1 .................................................................................................................. 16
8.2 CMD Codes ................................................................................................................................ ................. 16
8.3 Response Frame format for PDU1 .............................................................................................................. 17
8.4 Response Codes ......................................................................................................................................... 17
8.5 Error-Codes ................................................................................................................................ ................. 17
9 Object descriptions and examples ........................................................................................................... 18
9.1 0x1010 Saving of parameters ...................................................................................................................... 18
9.2 0x1011 Restoring of default values .............................................................................................................. 18
9.3 0x1018-2 Reading of the product code ........................................................................................................ 19
9.4 0x6507 Reading of the software version ...................................................................................................... 19
9.5 0x2100 Baudrate ......................................................................................................................................... 20
9.6 0x6001 Measuring units per revolution ........................................................................................................ 20
9.7 0x6003 Preset value encoder ...................................................................................................................... 21
9.8 0x2103 Group Extension ............................................................................................................................. 21
9.9 0x2104 Transmission rate for PGN65450 .................................................................................................... 22
9.10 0x2117 Encoder Diagnostics ....................................................................................................................... 23
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10 Object directory ......................................................................................................................................... 24
10.1 Communication Profile Area ........................................................................................................................ 24
10.2 Manufacturer Specific Profile Area .............................................................................................................. 25
10.3 Standardized Device Profile Area ................................................................................................................ 26
Appendix
A. Pin Assignments ........................................................................................................................................ 27
A.1 Assignment cable (connection – L) and connector 1 x M12 (connection – N) ............................................. 27
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Document index
Date
Firmware version
CANopen Revision Number Obj. 1018
Author
Changes
0001
11.07.17
From V01-03
0003.0000h
blk
Initial version replaces all draft documents
0002
12.07.18
From V01-05
0003.0000h
blk
- Electronic gear function added chapter 4.3.5 and 10.2
- Scaling function expanded up to 16Bit ST
- New „speed Filter time“ default value of 50ms (Object 4001h) range reduced from 4000 ms to 500 ms

1 Version overview

This document is subject to changes. In order to have the most current version please download on www.baumer.com
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2 Safety and operating instructions

Intended use
The encoder is a precision measuring device that is used to record positions and speeds. It provides measuring
values as electronic output signals for the subsequently connected device. It must not be used for any other purpose. Unless this product is specially labeled, it may not be used for operation in potentially explosive environments.
Make sure by appropriate safety measures, that in case of error or failure of the encoder, no danger to persons or
damage to the system or operating facilities occurs.
Personnel qualification
Installation and assembly of this product may be performed only by a person qualified in electronics and precision
mechanics.
Maintenance
The encoder is maintenance-free and must not be opened up nor mechanically or electronically modified. Opening
up the encoder can lead to injury.
Disposal
The encoder contains electronic components. At its disposal, local environmental guidelines must be followed.
Mounting
Solid shaft: Do not connect encoder shaft and drive shaft rigidly. Connect drive and encoder shaft with a suitable
coupling.
Hollow shaft: Open clamping ring completely before mounting the encoder. Foreign objects must be kept at a
sufficient distance from the stator coupling. The stator coupling is not allowed to have any contact to the encoder or the machine except at the mounting points.
Electrical commissioning
Do not proceed any electrical modifications at the encoder. Do not proceed any wiring work while encoder is live. Do not remove or plug on connector whilst under power supply. Ensure that the entire system is installed in line with EMC/EMI requirements. Operating environment and wiring have
an impact on the electromagnetic compatibility of the encoder. Install encoder and supply cables separately or far away from sources with high emitted interference (frequency converters, contactors, etc.).
When working with consumers with high emitted interference provide separate encoder supply voltage. Completely shield encoder housing and connecting cables. Connect encoder to protective earth (PE) using shielded cables. The braided shield must be connected to the cable
gland or connector. Ideally, aim at dual connection to protective earth (PE), i.e. housing by mechanical assembly and cable shield by the downstream devices.
Supplementary information
The present manual is intended as a supplement to already existing documentation (e.g. catalogues, data sheets or
mounting instructions).
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Product
Absolute encoder single- or multiturn encoder EAMxxx

3 Product Assignment

3.1 Absolute encoder

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4 System Overview

4.1 General

The encoder is a rotary measuring system with a J1939 interface and supports scaling and presetting. Galvanically isolated encoders are available on request.

4.2 Supported J1939 Services

Following J1939 services are supported:
Network Management (PGN60928)
o Address claiming with Name-Field
PGN65450 + Group Extension (PDU1)
o Cyclic process data o Following Objects can be mapped into this PGN
Position (32-Bit)  Speed (16-Bit, [rpm])  Alarm (16-Bit)  Warnings (16-Bit)  Time Stamp (16-Bit)
PGN61184 (PDU1)
o Encoder parameters
Direction  Scaling (singleturn resolution/turn, Full resolution)  Preset
o PDU2 parameters
Object mapping  Cyclic time
o Baudrate o Group extension o Customer EEPROM (4x 32-Bit) o Save/Restore commands
BAM messages  Transport protocol
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Direction
Correction
User Zero Point
(Offset)
Physical Position
Speed
Calculating
Scaling
Scaling[Inc] [Inc] [Inc]
[Inc]
[Inc/s]
[Steps]
[Steps/s]
Relationship between object 6001h and 6002h: Total measuring range = Measuring units per revolution x Number of distinguishable revolutions
(Value Object 6002h) = (Value Object 6001h) x (Value Object 6502h)

4.3 Function Principle

4.3.1 Overview

Figure 1: Function principle overview

4.3.2 Scaling

The scaling of speed and position objects can be adapted in the objects 6001h or 6002h.
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0000 0000h
FFFF FFFFh
Output
Speed
7FFF FFFFh
8000 0000h
0000h
FFFFh
Output
Speed
7FFFh
8000h

4.3.3 Position Range

The range of the position is depending on the position step setting (object 6001h-0 and Object 6002h-0). The total range can be read from object 6002h-0. The range is 0…(Value Object 6002h)-1.

4.3.4 Speed range

There are two objects, which can be used for the speed information.
0x6030-1
This object provides a 32-Bit Speed information, which has the unit [Steps/sec]. The range for object 6030h-1 Speed encoder A is -8000’0000h…7FFF’FFFFh. If the scaled speed value exceeds this range, the output is -8000’0000h or 7FFF’FFFFh (Saturated Logic).
Figure 3: Speed range
0x2120-1
This object provides a 16-Bit Speed information, which has the unit [rpm]. The range for object 2120h-1 Speed encoder A is -8000h…7FFF’h. If the scaled speed value exceeds this range, the output is -8000h or 7FFFh (Saturated Logic).
Figure 3: Speed range
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obj 2001h-3h
GearValue2
eg. 8 teeth
Example
discrete gear with number of teeth
obj 2001h-2h
GearValue1 eg. 17 teeth
Motor
Gear
gear ratio i =
6.25 1
=
625 100
obj 2001h-2h
GearValue1
eg. 625
obj 2001h-3h
GearValue2
eg. 100
i = 6.25
Example gear box
Encoder
Encoder
Application
Application

4.3.5 Electronic gear function

The electronic gear function divides the position value by the gear factor. Therefore it transforms the position value into the view of the application:
𝑎𝑝𝑝𝑙𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 =
The gear factor (i) is defined as followed:
𝑖 =
There are three objects that should be configured to use the electronic gear function.
0x2001-1 Enable
Set this object to the value “2” to enable the electronic gear function, while the value “1” disable it.
0x2001-2 Gear Value 1
This Object defines the numerator of the gear factor. The range of this integer value is 1…32767.
0x2001-3 Gear Value 2
This Object defines the denominator of the gear factor. The range of this integer value is 1…32767.
Figure 1: Example configuration of gear values
𝑒𝑛𝑐𝑜𝑑𝑒𝑟 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛
𝐺𝑒𝑎𝑟𝑉𝑎𝑙𝑢𝑒1
𝐺𝑒𝑎𝑟𝑉𝑎𝑙𝑢𝑒2
𝑖
Limitations
A useful gear ratio is greater than 0.125, while a gear ratio smaller than 1 may result in higher signal noise. The maximum encoder turns in unpowered operation must be smaller than 229 (536’870’912) turns. The electronic gear function is useful for multiturn encoders. In case of singleturn encoders, the position value gets lost after a power cycle.

4.4 Encoder as standard component with embedded software used in safety functions

If this standard encoder is used in safety functions, please request the according “Application Note MAGRES EAM” for further information.
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Protocol Data Unit (PDU)
Description
Identifier
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit
Parameter Group Number (PGN)
Description
Priority
Extended Data page
Data Page
PDU Format (PF)
Destination Address Group extension
Source address (ECU address)
Bit
28 … 26
25
24
23 … 16
15 … 8
7 … 0
Priority:
As lower the value, as higher is the priority on the bus. This value is fixed to the value 6.
Extended Data page:
Only value 0 is supported
Data page:
Only value 0 is supported
PDU Format:
If Values < 0xEF -> PDU1 format is used If Values > 0xFE -> PDU2 format is used
PDU1: Destination Address: PDU2: Group Extension:
PDU1: This is either the address of the Encoder,
when requesting data or this will be the address of the ECU, which requested Data, when the Encoder responds to a message.
PDU2: Group Extension, can used to create an
offset to the cyclic message PGN (65450 + Group Extension)
Source address (ECU address)
Containing always the own address (default-value: 172). This address is claimed with the NM Service (see address claiming)

5 CAN Frame

A standard CAN-Frame with a 29-Bit identifier is being used for the J1939 bus. The data in the PDU fields will be interpreted differently, depending on choosen PDU1 or PDU2 format, which is defined by the Identifier.

5.1 Identifier

The Identifier is defined as the CAN 29-Bit Identifier and can be configured by the user in two ways:
Configuring of default ECU address (Object 0x2102)  Configuring of Group Extension (Object 0x2103)
Principally, there are two different message formats used in the J1939 protocol, which are defined by the data range of the PDU format field:
PF Values 0 … 240 (called as PDU1 Format)
Peer-to-Peer and broadcast communication  Field Destination Address always contains the receivers address, or broadcast (25%)  Used for Encoder parametrization
PF Values 240 … 255 (called as PDU2 Format)
Only broadcast communication  Field Destination Address is used as Group Extension value  Used for cyclic sending values of the Encoder
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Parameter Group Number
Description
Priority
Extended Data page
Data Page
PDU Format (PF)
Destination Address
Group extension
Source address (ECU address)
Value
6 0 0
0xFF
0xAA
0xAC
Bit
28 … 26
25
24
23 … 16
15 … 8
7 … 0
Cob-ID [Hex]
0x18FFAAAC
Parameter Group Number
Description
Priority
Extended Data page
Data Page
PDU Format (PF)
Destination Address
Group extension
Source address (ECU address)
Value
6 0 0
0xEF
0xAC
0x00
Bit
28 … 26
25
24
23 … 16
15 … 8
7 … 0
Cob-ID [Hex]
0x18EFAC00

5.2 Parameter Group Number (PGN)

The Parameter Group Number is an identifier for parameters. The following PGN’s are supported:
PGN 60928 (Name-Field)  PGN 61184 (Encoder Parameters)  PGN 65450 (cyclic process data)
Calculation of Parameter Group Number (PGN):
PDU1 Format: PGN = “PDU Format Field” * 256 + 0 -> Only every 256 PGN number exist.
PDU2 Format: PGN = “PDU Format Field” *256 + ”Group Extension value”

5.2.1 Identifier Examples

Identifier for Cyclic PGN 65450 message:
PGN 65450 => in Hex => 0xFFAA
PDU-Field = 0xFF (Value > 240 -> PDU2 format with Group Extension is used) Group Extension = 0xAA
ECU-Address = 172 = 0xAC
Identifier for Acyclic PGN 61184 message, used for read command from another device to the encoder)
PGN 61184 => in Hex => 0xEF00
PDU-Field = 0xEF (Value < 240 -> PDU1 format with Destination Address is used) Dest. Address = 0xAC (default address of Encoder, could be higher, according to address claim)
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Bits of Protocol Data Unit (PDU)
Description
Identifier
DLC
21 Bit
11 Bit
3 Bit
5 Bit
8 Bit
1 Bit
7 Bit
4 Bit
3 Bit
1 Bit
PGN60159
8
EAMxxx
18EEFFACh
8
A7E7 7h
157h
0h
0h
8Eh
0h
0h
0h
5h
1h

6 Network Management Service

6.1 NAME Field (PGN 60159)

The name field will be sent by the device on every start up as a broadcast message. The name field is used to identify the device in the network, as well as for the address claiming. The name field can’t be configured by the user.

6.2 Address Claiming

Every device on the J1939 network needs to observe name field messages on the bus in order to detect, if another device tries to use the same address as the own device. When it is detected, that another device using the same address, the own name field is also broadcasted on the bus. The device with the lower priority (higher Identifier) needs to increment its own address by one and broadcast the name-field on the bus again. Save and restore commands
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Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Value (example)
18FFAAACh
8
18h
91h
B7h
73h
21h
F0h
01h
40h
Bytes
Description
Hex-Value from example
Interpretation
0 … 3
Position Value (14-Bit ST, 18Bit MT)
73B79118h
Multiturn-Value = 118478d Singleturn-Value = 4376d
4 … 5
Speed Value
F021h
- 4063d rpm
6
Warning
01h
Frequency exceeded
7
Error
40h
Position Error

7 PGN65450 - cyclic message (PDU2 Format)

7.1 General

The device supports a cyclic PDU2 message with PGN65450+GroupExtenstion, which can be used for cyclic transmitting of the encoder values. The data/objects which are sent with the PDU2 can be ordered customer specific. The cycle time, can be configured.

7.2 Frame Format

Interpretation of the values according the example values:
Identifier:
Priority: 6 PGN: FFAAh = 65450d Group Extension: ACh = 172d
Data-Bytes are according to the defined mapping. Default-mapping is:
PDU:
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Mapping content
Mapping entry
Description
Position encoder
0x60040020
Object 6004h Subindex 00h, data length 32 Bit
Speed encoder [steps/sec]
0x60300120
Object 6030h Subindex 01h, data length 32 Bit
Alarms
0x65030010
Object 6503h Subindex 00h, data length 16 Bit
Warnings
0x65050010
Object 6505h Subindex 00h, data length 16 Bit
Diagnostic
0x21170010
Object 2117h Subindex 00h, data length 16 Bit
Speed [rpm]
0x21180010
Object 2117h Subindex 00h, data length 16 Bit
Time Stamp
0x21200010
Object 2120h Subindex 00h, data length 16 Bit
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Position[0]
Position[1]
Position[2]
Position[3]
Speed[0]
Speed[1]
Warnings
Errors

7.3 Mapping

The encoder supports a customer specific mapping for PGN65450, which can be specified, when ordering an encoder.

7.3.1 Mappable objects

The following objects are mappable:

7.3.2 Default mapping of absolute encoder

Byte 0 – 3 Encoder absolute position:
Datatype: 4 Byte, U32, Resolution: According to scaling factors (see encoder parametrization)
Byte 4 – 6 Encoder speed value:
Datatype: 2 Byte, S16, Resolution: [rpm]
Byte 7 – 8 (Encoder diagnostic):
See Object description in chapter 0x2117 Encoder Diagnostics

7.4 Timing

The minimal cycle time for PGN65450 is 1 ms, although the J1939 suggest to use minimal cycle times of 50 ms.

7.5 Exceptions of accurate calculation of process data

The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and alarms:
- Changing the scaling parameters
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Protocol Data Unit (PDU)
Description
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit 8 CMD
Index
Sub­Index
Data bytes
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

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
Position (Index 6004h)  Speed (Index 6020h / 2020h)  Diagnostic (Index 2017h)
o Encoder parameters
Direction (Index 6000h)  Scaling (singleturn resolution/turn)  Preset
o PGN65450 cyclic message parameters
Transmission rate
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

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

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Protocol Data Unit (PDU)
Description
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit 8 Resp. Code
Index
Sub­Index
Data of Object /
Error-Code
Response-Code
Description
80h
Error occurred -> Check Error-Code
60h
Write command successfully
4Fh
Reading of 1 byte of data successfully
4Bh
Reading of 2 byte of data successfully
47h
Reading of 3 byte of data successfully
43h
Reading of 4 byte of data successfully
Error-Code
Description
0504 0001h
Sent CMD is unknown
0601 0000h
Access to object unsupported
0601 0001h
Read-Access not supported to object
0601 0002h
Write-Access not supported to object
0602 0000h
Object doesn‘t exist
0609 0011h
Sub-Index doesn’t exist
0609 0030h
Value out of Range
0609 0031h
Value too high
0609 0032h
Value too low

8.3 Response Frame format for PDU1

Be aware, that the LSB is always transmitted before MSB. For example Index = 2104h, Byte 1 = 04h, Byte 2 = 21h.

8.4 Response Codes

8.5 Error-Codes

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Index - SubIndex
Description
Parameters which are saved
0x1010-1
Saving of all parameter
Please see the object dictionary for all parameters, which are saved.
0x1010-2
Not used for J1939
0x1010-3
Saving of application parameters
10.3 Standardized Device Profile Area
0x1010-4
Saving of manufacturer specific parameters
Manufacturer Specific Profile Area
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Send saving of all parameters
18EFAC00h
8
22
10
10
01
73
61
76
65
Successful response by encoder (60h)
18EF00ACh
8
60
10
10
01
00
00
00
00
Index-SubIndex
Description
Parameters which are restored
0x1011-1
Restore of all parameter
Please see the object dictionary for all parameters, which are restored.
0x1011-2
Not used for J1939
0x1011-3
Restore of application parameters
10.3 Standardized Device Profile Area
0x1011-4
Restore of manufacturer specific parameters
Manufacturer Specific Profile Area
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Send restoring of all parameters
18EFAC00h
8
22
11
10
01
6C
6F
61
64
Successful response by encoder (60h)
18EF00ACh
8
60
11
10
01
00
00
00
00

9 Object descriptions and examples

The frequently used objects are described in this chapter. More objects can be found in the Object directory.

9.1 0x1010 Saving of parameters

With the object 0x1010, the parameters can be saved to the non-volatile memory and applied at startup. The response is sent by the encoder after the parameters are saved to the non-volatile memory.
The Sub-Indexes are defined as follow:
A magic number-sequence (to avoid accidental saving) is being used to trigger the save-command. The letters “save” needs to be used as Byte 4 … 7 (73h, 61h, 76h, 65h)
Example of saving all parameters:

9.2 0x1011 Restoring of default values

With the object 0x1011, the parameters can be restored to the factory preset values (factory values ca be defined when ordering). The values are restored after a reset of the encoder. The response is sent by the encoder after the command for restoring the parameters is save to the non-volatile memory.
Sub-Indexes are defined as follow:
A magic number-sequence (to avoid accidental saving) is being used to trigger the save-command. The letters “load” needs to be used as Byte 4 … 7 (6C, 6Fh, 61h, 64h)
Example of restoring the application parameters:
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Product
Product-Code (Byte 6 and Byte 7)
Device Name
Absolute encoder multiturn
0x0070
EAMxxx MT
Absolute encoder singleturn
0x0071
EAMxxx ST
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Reading of the product code
18EFAC00h
8
40
18
10
02
00
00
00
00
Response by encoder: 0071h = Singleturn Encoder
18EF00ACh
8
60
02
21
00
71
00
00
00
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Reading of the software version
18EFAC00h
8
40
07
65
00
00
00
00
00
Response by encoder: 0102h => V01.02
18EF00ACh
8
43
07
65
00
xx
xx
02
01

9.3 0x1018-2 Reading of the product code

Byte 5: Major Product Code Byte 4: Minor Product Code
Example of reading the product code

9.4 0x6507 Reading of the software version

Byte 7: Major FW-Version Byte 6: Minor FW-Version
Example of reading the software version
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Value
Baudrate
0
10 kBit/s
1
20 kBit/s
2
50 kBit/s
3
100 kBit/s
4
125 kBit/s
5
250 kBit/s
6
500 kBit/s
7
800 kBit/s
8
1000 kBit/s
9
Autobaud
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Changing baudrate to 500 kBit/s (value 6)
18EFAC00h
8
22
00
21
00
06
00
00
00
Successful encoder response (60h)
18EFAAACh
8
60
00
21
00
00
00
00
00
Send saving of all parameters
18EFAC00
8
22
10
10
01
73
61
76
65
Successful encoder response (60h)
18EFAAACh
8
60
10
10
01
00
00
00
00
Reboot of Encoder and changing of CAN-Adapter baudrate
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Write Measuring Units to Encoder
18EFAC00h
8
22
01
60
00
00
00
0E
10
Successful response by encoder (60h)
18EF00ACh
8
60
03
60
00
00
00
00
00
Optional send saving of all parameters
18EFAC00h
8
22
10
10
01
73
61
76
65
Optional successful response by encoder (60h)
18EF00ACh
8
60
10
10
01
00
00
00
00

9.5 0x2100 Baudrate

The baudrate is activated after a reset or power-on (if parameter is saved to non-volatile memory)
Example of changing baudrate to 500 kBit/s

9.6 0x6001 Measuring units per revolution

The measuring units per revolution (Singleturn resolution) of the encoder can be set WITH this object (32-Bit value)
Example of setting the ST Resolution to 3600
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Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Write preset Position to Encoder
18EFAC00h
8
22
03
60
00
04
02
66
52
Successful response by encoder (60h)
18EF00ACh
8
60
03
60
00
00
00
00
00
Optional send saving of all parameters
18EFAC00h
8
22
10
10
01
73
61
76
65
Optional successful response by encoder (60h)
18EF00ACh
8
60
10
10
01
00
00
00
00
Cyclic PGN65450 with new Position Value
18FFDDACh
8
04
02
66
52
00
00
00
00
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Cyclic PGN65450 with Group Ext. 00h
18FFAAACh
8
18
91
B7
73
00
00
00
00
Changing Group Extension to 33h
18EFAC00h
8
22
03
21
00
33
00
00
00
Successful response by encoder (60h)
18EF00ACh
8
60
03
21
00
00
00
00
00
Optional Send saving of all parameters
18EFAC00h
8
22
10
10
01
73
61
76
65
Optional Successful response by encoder (60h)
18EF00ACh
8
60
10
10
01
00
00
00
00
Cyclic PGN65450 with Group Ext. 33h
18FFDDACh
8
18
91
B7
73
00
00
00
00
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Read Group Extension of encoder
18EFAC00h
8
40
03
21
00
00
00
00
00
Response by encoder with 00h
18EF00ACh
8
4F
03
21
00
00
00
00
00

9.7 0x6003 Preset value encoder

The position value of the encoder can be preset by writing the desired position to this object. The preset position value is a 32-Bit value.
Example of setting the position to 0x52660204

9.8 0x2103 Group Extension

The group extension is a 8-Bit value, which is transmitted in Byte 4.
Example of changing the Group Extension to 55h
Example of Reading Group Extension
Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 21/27 Frauenfeld, Switzerland
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Changing of transmission time to 500ms
18EFAC00h
8
22
04
21
00
F4
01
00
00
Successful response by encoder (60h)
18EF00ACh
8
60
04
21
00
00
00
00
00
Optional Send saving of all parameters
18EFAC00h
8
22
10
10
01
73
61
76
65
Optional Successful response by encoder (60h)
18EF00ACh
8
60
10
10
01
00
00
00
00
Cyclic PGN65450 is sent every 500ms
Protocol Data Unit (PDU)
Description
Identifier
DLC
Byte 0 … 7 [hex]
Read transmission time of encoder
18EFAC00h
8
40
04
21
00
00
00
00
00
Response by encoder with 1F4h
18EF00ACh
8
4B
03
21
00
F4
01
00
00

9.9 0x2104 Transmission rate for PGN65450

The transmission time is a 16-Bit value, which is in Byte 4 and Byte 5 and has the unit [ms].
Example of changing the transmission Rate to 500 ms (1F4h)
Example of Reading tPGN65450 transmission time
Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 22/27 Frauenfeld, Switzerland
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
MTSuper
STSys
MTSys
MountErr
BattLow
OpTimeLim
WDT
FreqExc
Byte 0
Correspondent bit & register
Meaning
Bit 7
Bit 15 0x6505 Warning
MTSuper: Multiturn supervision Set, when Multi- and Singleturn system are out of sync.
Bit 6
Bit 14 0x6505 Warning
STSys: Singleturn system Set, when Singleturn system error detected
Bit 5
Bit 13 0x6505 Warning
MTSys: Multiturn system (corresponds to Bit 13 of Warning Register 0x6505) Set, when Multiturn system error detected
Bit 4
Bit 12 0x6505 Warning
MountErr: Mounting error Set, when Mounting error has been detected (i.e. magnetic field disturbed)
Bit 3
Bit 4 0x6505 Warning
BattLow: Batterie low charge Set, when the battery of the Multiturn system gets low. Encoder should be
replaced to guarantee absolute position.
Bit 2
Bit 3 0x6505 Warning
OpTimeLim: Operating time limit Set, when a possible problem with the non-volatile memory is detected. Encoder
should be replaced to guarantee absolute position.
Bit 1
Bit 2 0x6505 Warning
WDT: Watch dog timer triggered Set, when a SW-Reset due to a watchdog timer occurred. Encoder should be
replaced to guarantee absolute position.
Bit 0
Bit 0 0x6505 Warning
FreqExc: Frequency exceeded Set, when the maximum guaranteed rotation speed is exceed.
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
BattEmpt
PosErr
TempErr
CommErr
Reserved
Reserved
Reserved
Reserved
Byte 1
Correspondent bit & register
Meaning
Bit 7
Bit 15 0x6503 Alarm
BattEmpt: Battery empty Set, when the battery of the Multiturn system is empty. Absolute position is not
guaranteed.
Bit 6
Bit 12 0x6503 Alarm
PosErr: Position Error Set, when Position error occurred (empty battery of magnetic field distortion)
Bit 5
Bit 3 0x1001 Error
TempErr: Temperature Error Set, when the maximum operating temperature is exceeded
Bit 4
Bit 4 0x1001 Error
CommErr: Communication Error Set, when a communication error has been detected (Bus off, Bus Warning, RX
overflow)
Bit 0-3
Reserved fields

9.10 0x2117 Encoder Diagnostics

Byte 0: Warnings
Byte 1: Errors
Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
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Object
Sub-Index
Name
Format
Access
Default
Save
Description
1000h
Device Type
U32
ro
Singleturn Encoders: 0001’0196h Multiturn Encoders: 0002’0196h
1001h
Error Register
U8
ro
0h
Bit0 = Generic error Bit3 = Temperature error Bit4 = Communication error
1008h
DeviceName
STR
ro
Devicename =
“EAMxxx MT“ “EAMxxx ST“
1009h
Hardware Version
STR
ro
Hardware version in ASCII
100Ah
Software Version
STR
ro
Software version in ASCII
1010h
Store parameters
ARR
00h
Largest Subindex
U8
ro
4h
No. of save possibilities 4
01h
Save all parameters
U32
rw
=“evas “ (0x65766173) to save
03h
Application parameters (Scaling, Direction)
U32
rw
=“evas “ (0x65766173) to save
04h
Manuf. Specific parameters (Default ECU-Address, Baudrate, Group Extension)
U32
rw
=“evas “ (0x65766173) to save
1011h
Restore default parameters
ARR
00h
Largest Subindex
U8
ro
4h
No. of reset possibilities = 4
01h
All parameters
U32
rw
=“daol“ (0x64616F6C) to load
03h
Application parameters
U32
rw
=“daol“ (0x64616F6C) to load
04h
Manufacturer specific parameters
U32
rw
=“daol“ (0x64616F6C) to load
1018h
Identity object
REC
ro 00h
Largest subindex
U8
ro
4h
01h
Vendor ID
U32
ro
5Fh
Vendor ID
02h
Product code
U32
ro
Product code: 70h = EAMxxx Multiturn Encoder 71h = EAMxxx Singleturn Encoder
03h
Revision number
U32
ro
Product revision No.
04h
Serial number
U32
ro
Serial No.

10 Object directory

The following tables provide a summary of all objects supported by the encoder.
Object Object number in Hex Name Object name Format U/I = Unsigned/Integer, No. = no of bits, ARR = Array, REC = Record, STR = String Access ro = read only, wo = write only, rw = read write, m = mappable Default Default value on first init Save X = can be stored in the EEPROM Description Additional information

10.1 Communication Profile Area

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
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Object
Sub-Index
Name
Format
Access
Default
Save
Description
2100h
Baudrate
U8
rw
2h
X
0=10 kBit/s 1=20 kBit/s 2=50 kBit/s 3=100 kBit/s 4=125 kBit/s 5=250 kBit/s 6=500 kBit/s 7=800 kBit/s 8=1000 kBit/s 9=Autobaud The baudrate is activated after a reset or power-on (if parameter is saved to non volatile memory)
2001h
Electronic Gear
ARR
Configuration of electronic gear function
00h
Largest Subindex
U8
ro 3
01h
Enable
U16
rw 1 X
1 = electronic gear function disabled 2 = electronic gear function enabled
02h
Gear Value1
U16
rw 1 X
Numerator of the gear factor, Range 1…32767
03h
Gear Value2
U16
rw 1 X
Denominator of the gear factor, Range 1…32767
2102h
ECU default address
U8
rw
ACh
X
ECU Address. Address-Range: 0 … 253
2103h
Group Extension PDU2
U8
rw
0h
X
Group Extension, used for PDU2 (proprietary B)
2104h
PGN65450 Transmission Rate
U16
rw
32h
X
Transmission Rate for PGN65450 [ms]
2110h
Feature control
U16
rw
0008h
X
Bit 3: CAN Bus Off behavior 1 = Automatic CAN restarting 0 = Encoder behaves according obj. 1029h
2114h
Manufacturer Reserved
U32
rw 0 2117h
Encoder diagnostic
U16
ro, m
Encoder diagnostic bits
2118h
Speed [rpm]
S16
ro, m
Speed value of Encoder in [rpm]
2120h
Time stamp [us]
U16
ro, m
Time stamp in [us] of current position acquisition
2300h
Customer EEPROM
ARR
Customer EEPROM to save any data
00h
Largest Subindex
U8
ro 4
01h
CustomerEEPROM[0]
U32
rw 0 X
02h
CustomerEEPROM[1]
U32
rw 0 X
03h
CustomerEEPROM[2]
U32
rw 0 X
04h
CustomerEEPROM[3]
U32
rw 0 X
4001h
Speed sampling interval in ms
U16
rw
50
X
The speed sampling interval sets up the sampling interval of the speed calculation Range 1…500ms

10.2 Manufacturer Specific Profile Area

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 25/27 Frauenfeld, Switzerland
Object
Sub-Index
Name
Format
Access
Default
Save
Beschreibung
6000h
Operating parameter
U16
rw
4h
X
Bit0 = 0 Position CW 1 Position CCW Bit 2 = 0 Scaling function disabled 1 Scaling function enabled
6001h
Measuring units per revolution [Step/rev]
U32
rw
4000h
X
Measuring units per revolution. Allowed range 4…65’536 Writing this object will adjust object 6502. 6502h = 6002h / 6001h
6002h
Total measuring range [Step]
U32
rw
Total measuring range. This value results from multiplication of objects 6001h and 6502h. Writing to this object will adjust object 6001h. 6002h/6502H = 6001h
(Value 0h means 1’0000’0000h Steps)
6003h
Preset value encoder [Step]
U32
rw
0h
Preset in steps for encoder A Offset (Internally linked to object 6020h-1)
6004h
Position encoder [Step]
U32
ro m
Position in steps for encoder A (Internally linked to object 6020h-1)
6010h
Preset Value
Array
00h
Largest Subindex
U08
ro
1
01h
Preset for encoder A [Step]
U32
rw 0
Preset in steps for encoder A
6030h
Speed Values
Array
00h
Largest Subindex
U08
ro 1
01h
Speed encoder A [Step/s]
U32
ro, m
Speed in steps/second for encoder A
6500h
Operating Status
U16
ro
4h
Bit0 = 0 Position CW 1 Position CCW Bit2 = 0 Scaling function disabled 1 Scaling function enabled
6501h
Used single turn resolution [step/rev]
U32
ro
4000h
6502h
Number of distinguishable revolutions
U16
ro
FFFFh
6503h
Alarms
U16
ro, m
0h
The following alarms are evaluated: Bit0 = Position error Bit12 = Data valid encoder Bit15 = Battery Empty
6504h
Supported alarms
U16
ro Standard:
9001h
The following alarms are supported: Bit0 = Position error Bit12 = Data valid encoder Bit15 = Battery Empty
6505h
Warnings
U16
ro, m
0h
The following warnings are evaluated: Bit0 = Frequency exceeded (SpeedMonitoring) Bit2 = CPU watchdog status reset generated Bit3 = Operating time limit Bit4 = Battery charge too low Bit12= Mounting error Bit13 = Multiturn System Bit14 = Singleturn System Bit15 = Multiturn Supervision
6506h
Supported warnings
U16
ro
F00Dh
The following warnings are supported: Bit0 = Frequency exceeded (SpeedMonitoring) Bit2 = CPU watchdog status reset generated Bit3 = Operating time limit Bit4 = Battery charge too low Bit12= Mounting error Bit13 = Multiturn System Bit14 = Singleturn System Bit15 = Multiturn Supervision
6507h
Profile & software version
U32
ro
Byte 0..1: Profile-Version =4.14 = 040Eh Byte 2: Software minor version Byte 3: Software major version
6508h
Operating time
U32
ro
0h
Always FFFF’FFFFh
6509h
Offset encoder [step]
I32
ro
0h
Offset encoder (Internally linked to object 650Ch-1)
650Ah
Module identification
Array
00h
Largest Subindex
U08
ro 1 01h
Manufacturer offset
I32
ro 0 650Bh
Serial number
U32
ro
Internally linked to object 1018h-4h
650Ch
Offset values
Array
00h
Largest subindex
U08
ro
1
01h
Offset encoder [step]
I32
ro
0h
X
Offset encoder A

10.3 Standardized Device Profile Area

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 26/27 Frauenfeld, Switzerland
signal
description
+Vs
Supply voltage
0 V
Supply voltage
CAN_GND
CAN bus ground
CAN_H
CAN bus Signal (dominant HIGH)
CAN_L
CAN bus signal (dominant LOW)
Cable color
M12
Cable
grey
1
0 V
brown
2
+Vs
white
3
0 V
green
4
CAN_H
yellow
5
CAN_L
pink - -
blue - -
red - -
Appendix A. Pin Assignments
Default Pin Assignments for galvanically isolated encoders are listed below (non-isolated on request).
Description
A.1 Assignment cable (connection – L) and connector 1 x M12 (connection – N)
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