Danfoss DST X510, DST X520 Operating guide

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Operation guide

Rotary position sensors SAE J1939 Digital output

DST X510 and DST X520

ia.danfoss.com

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Operation guide | DST X510 and DST X520 Rotary position sensors SAE J1939

Table of contents

Contents

1. General information................................................................................................................................... 2

1.1 Contact........................................................................................................................................................... 2

1.2 General............................................................................................................................................................ 2

2. Abbreviations and terms.......................................................................................................................... 3

3. Reference documents.............................................................................................................................. 3

4. Electrical connections and Block diagram ........................................................................................ 4

4.1 Deutsch version with shaft.................................................................................................................... 4

4.2 AMP version with shaft............................................................................................................................ 5

4.3 AMP version without shaft................................................................................................................... . 6

4.4 Cable without shaft................................................................................................................................. . 7

4.5 Danfoss Hall-eect rotary sensor: Block diagram......................................................................... 8

5. Default SAE J1939 denitions................. ........................................................................................ 8

6. Getting started............................................................................................................................................ 9

7. How to change the name........................................................................................................................ 12

8. How to change the transmission rate................................................................................................. 13

9. How to change the source address................................................................................................. .... 14

1. General Information

1.1 Contact

Danfoss A/S Industrial Automation DK-6430 Nordborg Denmark www.ia.danfoss.com E-mail: [email protected]

1.2 General

This document represents a Danfoss SAE J1939 denition for HALL-eect single turn rotary sensors.

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2. Abbreviations and terms

Abbreviation / Term Denition

SAE Society of Automotive Engineers

ECU Electronic Control Unit

CA Controller Application

PDU Protocol Data Unit

NMT Network Management

PGN Parameter Group Number

AC Address Claiming

MSB Most Signicant Byte

LSB Least Signicant Byte

SOF Start Of Frame

RTR Remote Transmission Request

CRC Cyclic Redundancy Check

ACK Acknowledgement

EOF End Of Frame

SRR Substitute Remote Request

IDE Identier Extension

POST Power On Self Test

CW Clockwise

CWW Counterclockwise

3. Reference documents

Document Contents

J1939 - Recommended Practice for a Serial Control & Communications Vehicle Network

J1939/11 - Physical layer - 250k bits/s, Shield Twisted Pair

J1939/13 - O-Board Diagnostic Connector

J1939/21 - Dat Link Layer CAN frame (29-bit identier, PGN etc.), transport protocol

J1939/31 - Network Layer Services and functions needed for intercommunication

J1939/71 - Vehicle Application Layer Standard parameters which are frouped together in a

J1939/73 - Application Layer Diagnostics

J1939/81 - Network Management Information about the content of an ECU Name and how

Bus physical properties

Standard connector for diagnostic purpose

functions, and 5 types of message types: Commands, Requests, Broadcasts/Reponses, Acknowledgement, and Group Functions

between dierent segments of a J1939 network

message frrame and given a PGN

Functions and messages for accessing diagnostic and calibration data

the ECU claims an addressing using that Name

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4. Electrical Connections and Block diagram

4.1 Deutsch version with shaft

CONNECTIONS

1.: OV (GND)

2.: + VS (+9 - +36 VDC)

3.: NC

4.: NC

5.: CAN-L

6.: CAN-H

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4.2 AMP version with shaft

CONNECTIONS

1.: OV (GND)

2.: + VS (+9 - +36 VDC)

3.: NC

4.: NC

5.: CAN-L

6.: CAN-H

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4.3 AMP version without shaft

M10 CH17 Magnet

< Suggested less than 1°

Air gab

CONNECTIONS

1.: OV (GND)

2.: + VS (+9 - +36 VDC)

3.: NC

4.: NC

5.: CAN-L

6.: CAN-H

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4.4 Cable without shaft

CONNECTIONS

Black: GROUND Red: + SUPPLY 1 Yellow: NC Green: NC Blue: CAN-L White: CAN-H

NOTE: Make sure that the CANbus is terminated. The inpedance measured between CAN-H and CAN-L mus be 60 Ω that means the cable must b e connected to a 120 Ω resistor on each end of the bus line. Internally the transducer is not terminated with resistor of 120 Ω. Do not confuse the signal lines of the CANbus, otherwise communication with the transducer is impossible.

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4.5 Danfoss Hall-eect rotary sensor: Block diagram

Power Management

+ Vs

GND

Angle 1 (CW) Hall- CHIP 1

Angle 2(CCW) Hall- CHIP 2

5. Default SAE J1939 denitions

Data & Diagnostic

Main Controller

Data &

CAN Transceiver

Diagnostic

• Data rate: 250 kbps

• Arbitrary Address Capable: 1

• Transmission rate: 100 ms

• Identier: 18FF0B15h

• PGN: 65291 (OFF0Bh) - “Proprietary B”

• Source Address: 21(15h)

• Priority: 6

• Data:

- Byte 0, 1: Angle 1 position unsigned int. 16 bit: 0 - 3599 (CW/CCW according to the ordering code, Angle position 0 - 359.9°; 0.1° resolution)

- Byte 2, 3: Angle 2 position 0 - 3599 (CW/CCW according to the ordering code, Angle position 0 -

359.9°, 0.1° resolution)

- Byte 4, 5, 6: 0xFF - Not in use

- Byte 7: Error code

• Diagnostic message: DM 13 only supported

CAN-H

CAN-L

11-bit

CAN ID

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S R R

29-bit Identier

The current data rate of Danfoss Hall-eect single-turn rotary sensors with SAE J1939 output is 250 kbps. A typical message containing 8 data bytes is 128 bits long (excluding bits used for bit stung) which in time is approximately 500 µs.

18-bit

CAN ID

R T R

6-bit Control Field

0-8 byte Data Field

16-bit CRC Field

Fig. 1 SAE J1939/21 Message Format

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2- bit ACK

7- bit EOF

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3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

6. Getting started

Priority

J1939 uses 29-bit identier dened within CAN

2.0B protocol shown in table 1.4

The device is congured as Arbitrary Address Capable device, thus it can claim other addresses, sending the Address Claimed message with the source address in the range 128 to 247 inclusive

PDU format PDU specic

Reserved Data page

When the sensor is turned on, it sends an Address Claimed message according to PGN 60928 as shown in the example of Fig. 2 (page 10). The message is composed of:

- Identier: 18EEFFXXh (Tabel 2)

- Data Field: device Name (Tabel 3)

< 240: PDU1 Destination Address

≥ 240: PDU2 Group extension

PGN

If no other Address Claimed message with the dame Source Address is received, or if the arbitration is won, the device uses that address and begins regular network communications with that address. If no address in the range of 128 to 247 is available (arbitration always lost), the device sends the Cannot Claim Address message using the NULL address (254). In this case, regular network communications are suspended.

Source Address

Table1: Structure of 29 bit identier

After the sensor has acquired a valid

2. address, it starts sending the angle position message according to PGN 65291 as shown in the example of Fig. 3 (page 10). The message is composed of:

- Identier: 0x18FF0BXXh (Tabel 4)

- Data Field: Angle position (Tabel 5)

In case of an error occurs, the angle position message will be sent with Angle 1 and Angle 2 MSB = 0xFF and LSB = 0XFF.

18h EEh FFh XXh

000 110 0 0 1110 1110 1111 1111 0001 0101

3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

Priority: 6

XXh XXh XXh 5Bh XXh XXh XXh XXh

xxxx xxxx xxxx xxxx 100 x xxxx 0101 1011 x xxxx xxx xxxx xxxx xxxx xxxx 0 x xxx xxxx

8 bits 8 bits 3 bits 5 bits 8bits 5 bits 3 bits 8 bits 7 bits 1 bit 1 bit 3 bits 4 bits

LSB

Identity number,

Reserved Data page PDU format: PDU1 PDU specic: Destination Address

PGN 60928 (0EE00h)

Table 2: PNG 60928 Address Claimed: Identier denition

Identity number

LSB

Manufacturer code,

MSB

Identity number,

MSB

Manufacturer code,

Function instance

ECU instance

Function

Vehicle system

Reserved bit

Source Address

Industry group

Arbitrary address bit

instance

Vehicle system

Table 3: PNG 60928 Address Claimed: Name denition

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Field Description

0: Single Address Capable

Arbitrary address bit

Industry group

Vehicle system instance 0

Vehicle system 0

Reserved bit 0

18h FFh 0Bh XXh

000 110 0 0 1111 1111 0000 1011 0001 0101

3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

Priority: 6

device (not implemented) 1: Arbitrary Address Capable device

2: Agricultural and Forestry Equipment 3: Construction Equipment

Table 4: Danfoss J1939 Name denition for HaLL-eect single turn rotary sensors

Reserved Data page PDU format: PDU2 PDU specic: Group extension

PGN 65291 (0FF0Bh)

Field Description

Function 142 (8Eh): Rotary Sensor

Function instance 0

ECU instance 0

Manufacturer code 732 (2D Ch): Danfoss A/S

Identity number Programmed by: Danfoss A/S

Source Address

Table 5: PGN 65291 Proprietary B: Identier denition

XXh XXh XXh XXh FFFFFFh XXh

xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx 1111 11111 1111 1111 11111 1111 xxxx xxxx

8 bits 8 bits 8 bits 8 bits 24 bits 8 bits

Angle 1,

MSB

Data type: 16-bit unsigned integer

Resolution: 0.1 deg Ex.: 008Ah = 138 = 13.8 deg

Angle 1,

LSB

Angle 2,

MSB

Data type: 16-bit unsigned integer

Resolution: 0.1 deg Ex.: 0D7Ch = 3452 = 345.2 deg

Angle 2,

LSB

Error Code

0000 0000 No error 0000 0001 Angle 1 sensor chip error 0000 0010 Angle 2

Reserved

Table 6: PGN 65291 Proprietary B: Angle position denition

sensor chip error 0000 0100 Magnetic eld too high/low 0010 0000 Program checksum error 0100 0000 Parameter checksum error

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Fig. 2: Example: Address Claimed message

Fig. 3: Example: Angle position message

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7. How to change the name

The Name of the sensor can be congured by sending Destination Specic - Proprietarily Congurable Message 1 according to PNG 45312 as shown in the example in Fig.4 (page 12). The message is composed of:

• Identier: 18BXXXXh (table 7)

• Note: Consider that the Destianation

Address is the address of the sensor, while the Source Address refers to the address of the user CAN controller that sends the message.

• Data eld: Proprietarily Congurabe Message 1 (table 8)

18h B1h XXh XXh

000 110 0 0 1011 0001 xxxx xxxx xxxx xxxx

3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

Priority: 6

Reserved Data page PDU format: PDU1 PDU specic: Destination Address

PGN 45312 (0B100h)

Source Address

Table 7: PGN 45312 Proprietarily Congurable Message 1: Identier denition

67656672h XXh XXh XXh XXh

0110 0111 0110 0101 0110 0110 0111 0010

32 bits 5 bits 3 bits 8 bits 7 bits 1 bit 1 bit 3 bits 4 bits

ASCII code: “gefr”

xxxx x xxx xxxx xxxx xxxx xxx 0 x xxx xxxx

Function

instance

ECU

instance

Function

Vehicle system

Reserved

bit

Arbitrary

address

bit

Industry

group

Table 8: PGN 45312 Proprietarily Congurable Message 1: Messager denition

Vehicle system

instance

Fig. 4: Example: How to change the name

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8. How to change the transmission rate

18h B1h XXh XXh

000 110 0 0 1011 0010 xxxx xxxx xxxx xxxx

3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

Priority: 6

67656672h XXh XXh 0000h

0110 0111 0110 0101 0110 0110 0111

0010

32 bits 8 bits 8 bits 16 bits

ASCII code: “gefr”

The Transmission Rate of the sensor can be congured by sending the Destination Specic Proprietarily Congurable Message 2 according to PGN 45568 as shown in the example Fig. 5 (page 13). The message is composed of:

• Identier: 18B2XXXXh (table 9)

• Note: Consider that the Destianation

Address is the address of the sensor, while the Source Address refers to the address of the user CAN controller that sends the message.

• Data eld: Proprietarily Congurabe Message 2 (table 10)

Reserved Data page PDU format: PDU1 PDU specic: Destination Address

PGN 45568 (0B200h)

Table 9: PGN 45568 Proprietarily Congurable Message 2: Identier denition

xxxx xxxx xxxx xxxx 0000 0000 0000 0000

Transmission rate

LSB

Data type: 16-bit unsigned integer Resolution: 1 ms Range: 10 - 65535; 0= stop transmission Ex.: 0032h = 50 = 50 ms

Transmission rate

MSB

Reserved

Source Address

Table10: PGN 45568 Proprietarily Congurable Message 2: Message denition

Fig. 5: Example: How to change the transmission rate

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9. How to change the source address

The Source Address of the sensor can be congured by sending the Command Address Message according to PGN 65240 (FED8h). Since

The messages must be sent:

a) Transport Protocol - Connection Management this message is 9-bit long, it is sent by using the Broadcast Announce Message of the Transport Protocol according to PGN 60416 and PGN 60160, as shown in the example Fig. 6 (page 14).

• Identier: 1CECFFXXh (table11)

• Data eld: Transport Protocol - Connection

Management (table 12).

1Ch ECh FFh XXh

000 111 0 0 1110 1100 1111 1111 xxxx xxxx

3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

Priority: 7

Reserved Data page PDU format: PDU1 PDU specic: Destination Address

PGN 60416 (0EC00h)

Source Address

Table 11: PGN 60416 Transport Protocol - Connection Management: Identier denition

20h 09h 00h 02h FFh D8h FEh 00h

0110 0111 0000 1001 0000 0000 0000 0010 1111 1111 1101 1000 1111 1110 0000 0000

8 bits 8 bits 8 bits 8 bits 8 bits 8 bits 8 bits 8 bits

Total message size, number of bytes, MSB

Total number of packets

Reserved

PGN of the packet message, LSB

PGN of the package message

PGN of the packet message, MSB

Control byte

Total message size, number of bytes, LSB

Table 12: PGN 60416 Transport Protocol - Connection Management - Broadcast Announce Message denition

b) Transport Protocol - Data tranfer: Packet 1

• Identier: 1CEBFFXXh (tabel13)

• Data eld: Transport Protocol - Data

Transfer, packet 1 (tabel 14)

1Ch EBh FFh XXh

000 111 0 0 1110 1011 1111 1111 xxxx xxxx

3 bits 1 bit 1 bit 8 bits 8 bits 8 bits

Priority: 7

Reserved Data page PDU format: PDU1 PDU specic: Destination Address

PGN 60160 (0EB00h)

Source Address

Table 13: PGN 60160 Transport Protocol - Data Transfer: Identier denition

01h XXh XXh XXh 5Bh XXh XXh XXh

0000 0001 xxxx xxxx xxxx xxxx 100 x xxxx 0101 1011 xxxx x xxx xxxx xxxx xxxx xxx 0

8 bits 8 bits 8 bits 3 bits 5bits 8 bits 5 bits 3 bits 8 bits 7 bits 8 bits

Seequence number

Ientify number, LSB

Identify number

Manufacturer code, LsB

Identify number, MSB

Manufacturer code, MSB

Function instance

ECU instance

Function

Vehicle system

Reserved bit

Table 14: PGN 60160 Transport Protocol - Data Transfer:Packet 1

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c) Transport Protocol - Data tranfer: Packet 2

• Identier: 1CEBFFXXh (tabel15)

• Data eld: Transport Protocol - Data

Transfer, packet 2 (tabel 16)

02h XXh XXh FFFFFFFFFFh

0000 0010 x xxx xxxx xxxx xxxx 1111 1111 1111 1111 1111 1111 1111 1111 1111 1111

8 bits 1 bit 3 bits 4 bits 8 bits

Sequence

number

Arbitrary

address

bit

Industry

group

Vehicle system

instance

New

Source

Address

Reserved

Table 14: PGN 60416 Transport Protocol - Data Transfer:Packet 2

Fig. 6: Example: How to change the Source Address

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