Baumer EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_In-USB迷|专注于互联网分享

2024年7月21日发(作者：环芫华)

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

Subject to modification in technic and design.

Errors and commissions excepted

Contents

3.1

4.1

4.2

4.3

4.3.1

4.3.2

4.3.3

4.3.4

4.3.5

4.4

5.1

5.2

5.2.1

6.1

6.2

7.1

7.2

7.3

7.3.1

7.3.2

7.4

7.5

8.1

8.2

8.3

8.4

8.5

9.1

9.2

9.3

9.4

9.5

9.6

9.7

9.8

9.9

9.10

Version overview ......................................................................................................................................... 4

Safety and operating instructions .............................................................................................................. 5

Product Assignment .................................................................................................................................... 6

Absolute encoder ........................................................................................................................................... 6

System Overview ......................................................................................................................................... 7

General .......................................................................................................................................................... 7

Supported J1939 Services ............................................................................................................................. 7

Function Principle .......................................................................................................................................... 8

Overview ........................................................................................................................................................ 8

Scaling ........................................................................................................................................................... 8

Position Range .............................................................................................................................................. 9

Speed range .................................................................................................................................................. 9

Electronic gear function ............................................................................................................................... 10

Encoder as standard component with embedded software used in safety functions ................................... 10

CAN Frame ................................................................................................................................................. 11

Identifier ....................................................................................................................................................... 11

Parameter Group Number (PGN) ................................................................................................................ 12

Identifier Examples ...................................................................................................................................... 12

Network Management Service .................................................................................................................. 13

NAME Field (PGN 60159) ........................................................................................................................... 13

Address Claiming ......................................................................................................................................... 13

PGN65450 - cyclic message (PDU2 Format)............................................................................................ 14

General ........................................................................................................................................................ 14

Frame Format .............................................................................................................................................. 14

Mapping ....................................................................................................................................................... 15

Mappable objects ......................................................................................................................................... 15

Default mapping of absolute encoder .......................................................................................................... 15

Timing .......................................................................................................................................................... 15

Exceptions of accurate calculation of process data ..................................................................................... 15

PGN61184 - Encoder Parameters and values (PDU1 Format) ................................................................ 16

Request frame format for PDU1 .................................................................................................................. 16

CMD Codes ................................................................................................................................................. 16

Response Frame format for PDU1 .............................................................................................................. 17

Response Codes ......................................................................................................................................... 17

Error-Codes ................................................................................................................................................. 17

Object descriptions and examples ........................................................................................................... 18

0x1010 Saving of parameters ...................................................................................................................... 18

0x1011 Restoring of default values .............................................................................................................. 18

0x1018-2 Reading of the product code ........................................................................................................ 19

0x6507 Reading of the software version ...................................................................................................... 19

0x2100 Baudrate ......................................................................................................................................... 20

0x6001 Measuring units per revolution ........................................................................................................ 20

0x6003 Preset value encoder ...................................................................................................................... 21

0x2103 Group Extension ............................................................................................................................. 21

0x2104 Transmission rate for PGN65450 .................................................................................................... 22

0x2117 Encoder Diagnostics ....................................................................................................................... 23

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Baumer Electric AG

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10.1

10.2

10.3

Object directory ......................................................................................................................................... 24

Communication Profile Area ........................................................................................................................ 24

Manufacturer Specific Profile Area .............................................................................................................. 25

Standardized Device Profile Area ................................................................................................................ 26

Appendix

A.1

Pin Assignments ........................................................................................................................................ 27

Assignment cable (connection – L) and connector 1 x M12 (connection – N) ............................................. 27

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1 Version overview

This document is subject to changes. In order to have the most current version please download on

Document Date Firmware CANopen Author Changes

index version Revision

Number

Obj. 1018

0001

0002

11.07.17

12.07.18

From V01-03

From V01-05

0003.0000h

blk

Initial version replaces all draft documents

- 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

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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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3 Product Assignment

3.1 Absolute encoder

Product

Absolute encoder single- or multiturn encoder EAMxxx

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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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Baumer Electric AG

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4.3 Function Principle

4.3.1 Overview

Figure 1: Function principle overview

Physical

Position

[Inc]

Direction

Correction

[Inc]

User Zero Point

(Offset)

[Inc]Scaling[Steps]

[Inc]

Speed

Calculating

[Inc/s]Scaling[Steps/s]

4.3.2 Scaling

The scaling of speed and position objects can be adapted in the objects 6001h or 6002h.

Relationship between object 6001h and 6002h:

Total measuring range

(Value Object 6002h)

Measuring units per revolution

(Value Object 6001h)

Number of distinguishable revolutions

(Value Object 6502h)

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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

7FFF FFFFh

0000 0000h

FFFF FFFFh

Speed

8000 0000h

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

7FFFh

0000h

FFFFh

Speed

8000h

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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: