Baumer R600V.DAE0-11209335 User manual

Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer-
land 1/29
R600V.DAE0 Operating Manual (EN)
Off-Highway Ground & Crop
Radar Sensor
Last Update: 07 Jan 2021

Manual R600V.DAE0 (EN)
Page 2 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
Table of Contents
1General Information.........................................................................................................4
1.1 Scope.......................................................................................................................4
1.2 Comments, notes, and warnings..............................................................................4
1.3 Intended Use............................................................................................................4
1.3.1 General .............................................................................................................4
1.3.2 Audience...........................................................................................................5
1.3.3 Application Policy..............................................................................................5
1.3.4 Compliance Statements....................................................................................7
1.3.5 Maintenance......................................................................................................8
1.3.6 Mechanical Damage..........................................................................................8
1.3.7 Disposal (environmental protection)..................................................................8
2Integration Guidance.......................................................................................................9
2.1 Mechanical Integration .............................................................................................9
2.1.1 Mounting Direction, Blind-range........................................................................9
2.1.2 Mounting ...........................................................................................................9
2.1.3 Free Space and Directional Sensitivity............................................................12
2.2 Targets and Measurement .....................................................................................13
2.2.1 Reference Target ............................................................................................13
2.2.2 Structured application environment targets and stationary situations .............13
2.2.3 On Vehicle Calibration.....................................................................................14
2.3 Electrical Integration...............................................................................................15
2.4 Visual Diagnostic....................................................................................................16
2.5 CAN Interface (Physical Layer) ..............................................................................17
3CAN Protocol.................................................................................................................18
3.1 ISO Name...............................................................................................................18
3.2 Device address.......................................................................................................18
3.2.1 Commanded address (PGN 0xFED8).............................................................18
3.2.2 Address Claim.................................................................................................18
3.2.3 Address resolution sequence..........................................................................19
3.3 Supported PGN (Parameter Group Number) .........................................................20
3.3.1 ECU Identification Info.....................................................................................20

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 3 of 29
Last Update: 07 Jan 2021
3.3.2 ECU Software Identification ............................................................................20
3.3.3 DM14 Memory access command message ....................................................20
3.3.4 DM15 Memory access reply message ............................................................20
3.3.5 DM16 Memory access binary data..................................................................20
3.3.6 Ground & Canopy Message............................................................................20
3.3.7 Vehicle Speed Message (reserved) ................................................................21
3.4 Exemplary Decoding of a CAN message frame.....................................................22
3.5 Sensor Configuration..............................................................................................23
3.5.1 Tool ISO name acceptance criteria.................................................................23
3.5.2 Adjustable Parameters....................................................................................23
4Trouble Shooting...........................................................................................................24
5Accessories...................................................................................................................24
6Appendix .......................................................................................................................25
6.1 Table Overview ......................................................................................................25
6.2 Figures Overview ...................................................................................................25
6.3 Definitions and Abbreviations.................................................................................26
7Terms and conditions of use..........................................................................................27
7.1.1 Copyright.........................................................................................................27
7.1.2 No Warranty....................................................................................................27
7.1.3 No Offer...........................................................................................................27
7.1.4 Limitation of Liability........................................................................................27
7.1.5 Governing Law and Jurisdiction ......................................................................27
8Document Revision History ...........................................................................................28
9Baumer Worldwide........................................................................................................29

Manual R600V.DAE0 (EN)
Page 4 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
1 General Information
1.1 Scope
This manual is intended for the Baumer “Off-Highway Ground & Crop Radar Sensor” family
and contains information about its installation and commissioning. The sensors and their soft-
ware configurations are listed below:
Tab 1 Applicable Products
Art. no.
Product
Type
SW Version
11209335
R600V.DAE0-
11209335
Radar sensor for sprayer applications
(250 kbaud)
R600VMSF 1.8.0 (or higher)
11228779
R600V.DAE0-
11228779
Radar sensor for sprayer applications
(500 kbaud)
R600VMSF 1.8.0 (or higher)
11188367
R600V.DAE0-
11188367
Radar sensor for general applications
(250 kbaud)
R600VMOF 1.13.0 (or higher)
1.2 Comments, notes, and warnings
1.3 Intended Use
1.3.1 General
The “Radar Sensor for Ground & Crop Radar Sensor” has been developed with the off-high-
way market (agriculture vehicles, construction vehicles, etc.) in mind. It is intended for use
cases in which the structured ground (rough terrain, stubble, etc) and/or crop distance on a
Read this operating manual carefully and follow its safety instructions!
NOTE
Provides helpful operation instructions or other general recommendations.
ATTENTION
Indicates a possibly situation that may lead to damage.
CAUTION
Indicates a possibly hazardous situation. If it is not avoided injuries may
occur or the device be damaged.

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 5 of 29
Last Update: 07 Jan 2021
vehicle (e.g. a tractor) or an implement (e.g. combine header, sprayer boom) shall be deter-
mined. For flat and unstructured surfaces (e.g. asphalt, concrete) the usage of the “Off-High-
way Distance Radar Sensor” (R600V.DAH5-11205779) is recommended. The 122GHz band
can be used in many different applications. The original equipment manufacturer or system
integrator must observe local restrictions regarding the usage and/or placing in the market of
this product.
The sensor may be integrated into vehicles with 12VDC and 24VDC vehicle power supplies,
and provides a CAN SAE J1939 interface with a set speed of 250kbit/sec (may be customized
to allow 500kbit/sec for customer specific sensors). The output rate defaults to 50ms, but may
be varied between 10ms and 1000ms. High visibility LEDs display the sensor status, even in
bright ambient light.
1.3.2 Audience
This manual is intended for original equipment manufacturers (OEMs), or system integrators;
but not the end-users of equipment. It is the responsibility of the OEM / system integrator to
provide a user manual where relevant information from this manual is passed on, if it either
directly affects the safety or indirectly as discovered during a safety assessment of the con-
sequences of this product’s integration. The Baumer “Off-highway Ground & Crop Radar sen-
sors” are not intended for safety applications and potentially explosive atmospheres. The OEM
or system integrator must ensure the safety of the equipment on which this product is used.
The manual is written based on current information. Baumer reserves the right to update prod-
ucts, documentation and its manuals if better information becomes available.
1.3.3 Application Policy
Baumer products are applicable to a wide range of applications and / or end-use cases.
Baumer cannot know all possible conditions under which products are installed, used, and
operated. Every application and / or use-case is unique. The suitability and functionality of a
Baumer product and its performance under different applications and / or end-use cases can
only be verified by testing, and shall ultimately be the responsibility of the Baumer customer
using a Baumer product. When the product configuration (software version, electronics revi-
sions, mechanical revisions, etc.) is changed the customer needs to validate and verify the
Baumer product to ensure the proper function in the application and / or end-use case.
CAUTION
This product must not be used in safety applications and in poten-
tially explosive atmospheres.
NOTE
For flat and unstructured surfaces (e.g. asphalt, concrete) the usage of the
“Off-Highway Distance Radar Sensor” (R600V.DAH5-11205779) is recom-
mended.

Manual R600V.DAE0 (EN)
Page 6 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
Intellectual property rights may exist for some applications and / or end-use cases that may
affect the usage and/or placing on the market of machines manufactured by the OEM using a
Baumer product. Baumer does neither implicitly nor explicitly warrant the usage for specific
application and / or end use case.
The product shall not be used for functional safety applications. Possible malfunctions and
failed measurements of the sensor must be intercepted at the system level and shall not lead
to unsafe situations in the system. The customer shall perform its own safety assessment to
account for sensor behaviour in particular situations (e.g. distance fluctuations in static situa-
tions, operator caused distance manipulation by hand or other objects). The product shall not
be used in the direct control and modification of the state of function of the vehicle.
Baumer ensures the compliance of its products to the specifications and declarations of con-
formity made available through its website www.baumer.com.
All conditions of use provided in the data sheet, top level drawing must be observed. The
machines or equipment manufactured by the customer utilizing Baumer product must only be
put on the market as covered by the declaration of conformity provided.
NOTE
The original equipment manufacturer or system integrator must ensure the
suitability of this product in the application and / or use case through exten-
sive testing.
NOTE
The original equipment manufacturer or system integrator must consider
third party intellectual property rights. No warranty is given for the applica-
tion and/or end use case.
CAUTION
This product must not be used in safety applications. A sensor malfunc-
tion must not lead to an unsafe situation.
CAUTION
The technical documentation provided must be observed.
CAUTION
The product shall not be used in the direct control and modification of the
state of function of the vehicle.

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 7 of 29
Last Update: 07 Jan 2021
Some applicable documents are listed below, but are not limited to:
Tab 2 Applicable Documents
Art. no.
Document Type
Document
11209335, 11228779
Data sheet (DAB)
DAB Radar sensor for sprayer applications
11209335, 11228779
Mounting instruction (MAL)
MAL Radar sensor for sprayer applications
11188367
Data sheet (DAB)
DAB Radar sensor for general applications
11188367
Mounting instruction (MAL)
MAL Radar sensor for general applications
11209335, 11188367,
11228779
Declaration of conformity (EU)
Baumer_R600V_DE-EN-FR_CoC_81302233
11209335, 11188367,
11228779
Declaration of conformity (US)
CTC_FCC_R600V_EN_RoC_81371135
11209335, 11188367,
11228779
Declaration of conformity (Canada)
CTC_ISED_R600V_EN_RoC_81371136
1.3.4 Compliance Statements
FCC Compliance Statement
This device complies with Part 15 of the FCC Rules.
Operation is subject to the following two conditions:
(1) this device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that may cause
undesired operation.
NOTICE: Changes or modifications made to this equipment not expressly approved by
Baumer may void the FCC authorization to operate this equipment.
NOTE: This equipment has been tested and found to comply with the limits for a Class A
digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide
reasonable protection against harmful interference when the equipment is operated in a com-
mercial environment. This equipment generates, uses, and can radiate radio frequency en-
ergy and, if not installed and used in accordance with the instruction manual, may cause
harmful interference to radio communications. Operation of this equipment in a residential
area is likely to cause harmful interference in which case the user will be required to correct
the interference at his own expense.
Radiofrequency radiation exposure Information:
This equipment complies with FCC exposure limits set forth for an uncontrolled environment.
This equipment should be installed and operated with minimum distance of 20 cm between
the radiator and your body.
This transmitter must not be co-located or operating in conjunction with any other antenna or
transmitter.
Canada Compliance Statement
This device complies with Industry Canada licence-exempt RSS standard(s).
Operation is subject to the following two conditions:
(1) this device may not cause harmful interference, and

Manual R600V.DAE0 (EN)
Page 8 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
(2) this device must accept any interference received, including interference that may cause
undesired operation.
This equipment complies with IC radiation exposure limits set forth for an uncontrolled envi-
ronment. This equipment should be installed and operated with minimum distance of 20 cm
between the radiator and your body.
This transmitter must not be co-located or operating in conjunction with any other antenna or
transmitter.
Le présent appareil estconforme auxCNR d'Industrie Canada applicablesaux appareils radio
exempts de licence. L'exploitation est autorisée aux deux conditions suivantes:
(1) l'appareil ne doit pas produire de brouillage, et
(2) l'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est sus-
ceptible d'en compromettre le fonctionnement.
Cet équipement est conforme aux limites d'exposition aux rayonnements IC établies pour un
environnement non contrôlé. Cet équipement doit être installé et utilisé avec un minimum de
20 cm de distance entre la source de rayonnement et votre corps.
Ce transmetteur ne doit pas etre place au meme endroit ou utilise simultanement avec un
autre transmetteur ou antenne.
1.3.5 Maintenance
This product does not require any maintenance. If function is impaired dirt should be removed
from the lens.
1.3.6 Mechanical Damage
If the product shows mechanical damage to an exterior part, it should be replaced to avoid
undetected malfunction. The product must be replaced by skilled and authorized personnel.
1.3.7 Disposal (environmental protection)
Do not dispose of electrical and electronic equipment in household waste. The product con-
tains valuable raw materials for recycling, which is why an old product must be returned to an
authorised collection point for correct disposal / recycling. For further information refer to
www.baumer.com.

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 9 of 29
Last Update: 07 Jan 2021
2 Integration Guidance
2.1 Mechanical Integration
2.1.1 Mounting Direction, Blind-range
Mount the sensor with its centre axis approximately perpendicular to the direction of move-
ment and the ground. An angle may affect the measurement due to the Doppler Effect. In field
trials an angle of +/- 10° has been shown to be non-detrimental. Care should be taken to
evaluate influence of the Doppler Effect on the end-result. There is limited compensation for
the Doppler Effect in the software. The distance output is relative to the tip of the lens. A blind
range of 300mm must be considered. No (reliable) measurement is possible within the blind
range of the sensor, though strong targets may be detected. No targets above 6m are de-
tected.
Fig 1 Mechanical Setup (for visualization only)
2.1.2 Mounting
A mounting plate with a flatness of better than 0.2mm per 100mm shall be used. Baumer
recommends soft steel as material to match specified mounting torque. For direct mounting
(thread in plate) Baumer recommends a thickness of the steel plate of at least 6mm. For
mounting on a thinner soft steel plates (≥3mm) flange nuts must be used instead.
Direction of movement
Crop distance
Ground distance
Center axis
Blind range
CAUTION
Installation, mounting and adjustment of this product must only be
executed by skilled and authorized personnel.

Manual R600V.DAE0 (EN)
Page 10 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
Fig 2 Mounting on thick soft steel plate (≥6mm).
Fig 3 Mounting on a thin soft steel plate (≥3mm)
It is recommended to use M6 screws per MBM 10105. The mounting torque for 10.9 (property
class) screws must be within 12Nm…15Nm, and for 8.8 (property class) screws it must be
within 10Nm...12Nm. For the mounting pattern and available tool space for tightening the
mounting screws please refer to the Figure below. Enough space must be allowed for the
wiring harness to avoid excessive bending of the wires or wire assembly. The wires must also
be appropriately secured and be suitable for the application.

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 11 of 29
Last Update: 07 Jan 2021
Fig 4 Mounting pattern, tool space.
ATTENTION
Observe mounting torque and tool space to avoid damage.to sensor.

Manual R600V.DAE0 (EN)
Page 12 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
2.1.3 Free Space and Directional Sensitivity
The Baumer off-highway radar sensor is a very sensitive device to deliver superior crop pen-
etration and crop detection performance. The opening angle of the main beam is 6° (for 3dB
signal reduction, or approx. 9° for 20dB signal reduction). A typical directional sensitivity is
shown below.
Fig 5Typical Directional Sensitivity of Sensor
Baumer recommends to limit intrusion of, in particular non-stationary, objects, into a rotational
cone of approx. 60…70° from the lens. Integration testing must be done to ensure that the
integration with available free space does not have impact on the measurement. It is known
that dangling wires, cables, hoses, water droplets may be picked up.
Fig 6 Recommended Free Space
NOTE
Non stationary objects in the near range may be picked up by the sensor
even outside the main directional sensitivity cone. The recommended free
space should be kept free from moving objects.
Y
X
X-Axis / H-Plane: per-
pendicular to centerline /
connector
Y-Axis / E-Plane:
along centerline / con-
nector

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 13 of 29
Last Update: 07 Jan 2021
2.2 Targets and Measurement
2.2.1 Reference Target
All data sheet specifications are based on a low-reflectance target (a wood panel with dimen-
sions 1200mm by 1700mm). This is to simulate the low reflectance of natural objects while
avoiding distance ambiguities. The measurement with radar is an intrinsically statistical pro-
cess when measuring on ground and / or crop which are highly structured targets. Great care
has been taken to design a robust signal processing to extract ground and crop distance.
Nevertheless integration testing is essential in the application. The correlation between sensor
output and the definition of the crop distance must be determined by testing. The zero point
for the measurement is on the tip of the lens.
2.2.2 Structured application environment targets and stationary situations
When measuring on a structured surface (such as soil) the measured distance will be aver-
aged over the whole area covered by the sensor opening angle (“directionality”). In static sit-
uations distances with a strong reflection will be favoured. When moving over the structured
object statistics will avoid these strong reflections at distinct distances and the ground distance
can be determined well. Nevertheless the structure of the surface of the soil will be reflected
in the measured distances.
The next figure shows that a multitude of strong reflections are possible within the opening
angle of the sensor (blue dots). The output distancesmay shift over time, due to slight changes
in position due to vibration and changed radar wave interference. Causes may be shifting of
leaves in the wind, vibration and movement of the implement, and so on. The distance values
must be filtered appropriately to avoid erratic movement of implements in these situations and
avoid unpredictable movement for bystanders.
NOTE
The correlation between ground & canopydistance with actual targets must
be determined for every application.
CAUTION
The superordinate controller instance must filter the sensor signal to
avoid erratic implement movement.

Manual R600V.DAE0 (EN)
Page 14 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
Fig 7 Shifting reflections in a stationary situation
2.2.3 On Vehicle Calibration
In a stationary situation (vehicle is not moving) while measuring on structured surfaces (such
as soil) the output distances may shift over time, due to slight changes in position due to
vibration and varying radar wave interference. For on-machine calibration purposes a flat sur-
face of adequate size (e.g. larger than 1200mm by 1200mm) with good radar reflection, and
with its geometric centre lined up with the sensor centre axis must be used to avoid this effect
and ensure a stable calibration procedure.
NOTE
For distance calibration on a vehicle a defined target must be used.
Directionality
(opening angle)
Distance averaging
(over opening angle)
Strong re-
flections

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 15 of 29
Last Update: 07 Jan 2021
2.3 Electrical Integration
The sensor can be used on direct vehicle power for 12VDC nominal voltage systems, and
24VDC nominal voltage systems in the range +VS = 9VDC … 32VDC. A centralized load
dump suppression (35V at 12VDC, and 58V at 24VDC nominal voltage respectively) is re-
quired. The product shall not be used in the direct control and modification of the state of
function of the machine. Please refer to the data sheet for information regarding operation
during the engine start phase, and further technical details. Prior to electrical connection of
the product the system must be down and not live. Do not exceed permissible bending radius
of the cable. The device shall be appropriately protected by an external R/C or fuse. In an
industrial environment the device shall be protected by an external R/C or listed fuse, rated
max. 100W/Vp or max. 5A below 20VDC, and a UL class 2 power supply be used.
Tab 3 Connector Pin-Out
Connection type
Ampseal 16 4P (776536-1)
Mating connector
Ampseal 16 4P (776524-1)
Pin
Code
Description
1
+Vs
Positive Supply voltage (12VDC /
24VDC nominal)
2
CAN HI
CAN High
3
GND
Ground (supply voltage)
4
CAN LO
CAN Low
This product may be used on vehicle power fulfilling these requirements:
Tab 4 Vehicle Power Electrical Transients
Test pulse (ISO 7637-2, ISO 16750-2)
1
2a
2b
3a
3b
4
5b
Severity level
IV
III
IV
III
III
III
--
Functional status (12 VDC vehicle power)
C
A
C
A
A
C
A
Functional status (24 VDC vehicle power)
C
A
C
A
A
C
A
For test installations a cable with the order code 11213075 (ZCABL-ALL.AMP0300) may be
used.
ATTENTION
The product shall not be used on machines without centralized load dump
suppression.
CAUTION
The product shall not be used in the direct control and modification
of the state of function of the machine.
CAUTION
The product shall not be operated during engine start phase.

Manual R600V.DAE0 (EN)
Page 16 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
2.4 Visual Diagnostic
High luminosity LEDs provide quick feedback on the operational status of the sensor. The
LEDs are positioned behind the radar lens and may be observed even under bright ambient
light. The following table indicates sensor status and LED blink codes.
Tab 5 Status Mapping (Visual Diagnostic)
Status
Code
Sensor fully operational (ob-
ject detected)
100ms Green LED ON
400ms LED OFF
Sensor fully operational, (no
object detected)
Green LED as above, with additional
100ms Yellow LED ON in “LED OFF” interval
Hardware fault
50ms Red LED ON
50ms LED OFF
CAN Bus Off (malfunction)
50ms Magenta LED ON
150ms LED OFF
Address claim failed
50ms Magenta LED ON
50ms LED OFF
Waiting for Master ECU ad-
dress claim
500ms Magenta LED ON
500ms LED OFF
Other
Blue LED
ATTENTION
The product shall be appropriately protected by an extern fuse or R/C.
NOTE
For test installations a cable with the order code 11213075 (ZCABL-
ALL.AMP0300) may be used.

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 17 of 29
Last Update: 07 Jan 2021
2.5 CAN Interface (Physical Layer)
The CAN physical layer is according to SAE J1939-15 (reduced physical layer). Some base
parameters are shown in the table below.
Tab 6 CAN Interface
Parameter
Value
Bus Speed
250 kbit / sec (1)
Bus Termination
External termination
Bus Voltage
5V
Wiring
Unshielded twisted pair (UTP)
Cable impedance
120 Ohm (+/- 10%)
(1) may be customized to 500 kbit/sec for customer specific versions.
The bus termination resistor is not included in the device. The bus setup is shown in the figure
below:
Fig 8 CAN connection setup diagram
For further information please refer to the CAN Protocol chapter.
120 120 
CAN HI
CAN LO
R600V
Radar Sensor
R600V
Radar Sensor

Manual R600V.DAE0 (EN)
Page 18 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
3 CAN Protocol
The physical layer of the 2-wire interface is specified according to SAE J1939-15. The wires
are protected against short-circuit.
The implementation of the protocol stack follows the SAE J1939 standards and is visualized
in the OSI network model as follows:
Tab 7 SAE J1939 in the OSI reference model
OSI Layer
Implementation
Network Management
Application Layer
SAE J1939-71 (Vehicle)
SAE J1939-73 (Diagnostic)
SAE J1939-81
Presentation
N/A
Session
N/A
Transportation Layer
SAE J1939-21
(Data Link Layer)
Network Layer
SAE J1939-31
Data Link Layer
SAE J1939-21
Physical Layer
SAE J1939-14
SAE J1939-15
Not all functions listed in the referenced standards have been implemented. The following
chapters explain the extent and implemented functions.
DBC files can be downloaded from the respective product page on www.baumer.com.
3.1 ISO Name
Manufacturer code 343 (Baumer Group)
ECU instance 0
Function instance 0 for R600V.DAE0-11188367
1 for R600V.DAE0-11209335
Function 0
System 0
System instance 0
Industry group 2
Arbitration Capable 1
3.2 Device address
3.2.1 Commanded address (PGN 0xFED8)
Supported
3.2.2 Address Claim
The device is arbitrary address capable.
Address range: 0x80...0xCF

Manual R600V.DAE0 (EN)
R600V.DAE0_manual_1.5 (EN).docm Page 19 of 29
Last Update: 07 Jan 2021
Default address: 0x80
3.2.3 Address resolution sequence
After reset, the device performs the following start-up sequence:
1. After initialization, send “request for address claimed” message (PGN 0xEE00)
a. At initialization, clear the address sort table
b. Send a request for address claimed. This causes other devices on the bus
to claim their addresses
2. Wait 1250 ms. During this time, incoming address claims are evaluated and mark
addresses claimed by devices with higher priority ISO names (NAME) than our own
as “claimed” in the address sort table.
3. Send “address claimed” message
a. Claim the own address, which is derived from the sort table. Address =
First free address in the sort table which is equal or higher than the pre-
ferred address (0x80) (1)
4. Wait 250 ms and handle address collisions.
When, during this time, another device with higher priority claims our last claimed
address, we will mark it as “claimed” and claim the next free address in the table
(1)
5. Start transmitting the cyclic ground & canopy message.
The CAN SAE J1939 standard generally defines the address claim procedure. Each device
on the bus can request an new address claiming from a single device or all nodes. The re-
questing device has to send a request (PGN 0xEA00) with the desired destination address
DA (address of node, global address 0xFF) the data of the message must include the PGN
0xEE00.
Tab 8 Address management messages
Message
PGN
PF
PS
SA
Length
DATA
Request for address claimed
0xEA00
234
DA
SA (2)
3 bytes
PGN 0xEE00
Address claimed
0xEE00
238
255
SA
8 bytes
NAME
Cannot claim source address
0xEE00
238
255
254
8 bytes
NAME
Commanded address
0xFED8
254
216
SA
9 bytes (3)
NAME, new SA
(1) This means that, provided no new sensors are mounted, each sensor will end up with the
same device address each time. However, if a new sensor is added to the system, ad-
dresses might shift up or down according to the new sort order, which is always from lowest
to highest serial number.
(2) In case no address has been claimed, yet the address may be set to 254
(3) longer than 8 bytes; transport protocol used instead

Manual R600V.DAE0 (EN)
Page 20 of 29 R600V.DAE0_manual_1.5 (EN).docm
Last Update: 07 Jan 2021
3.3 Supported PGN (Parameter Group Number)
3.3.1 ECU Identification Info
PGN: 0xFDC5
Direction: Transmit
Transmission rate: On PGN request only
3.3.2 ECU Software Identification
PGN: 0xFEDA
Direction: Transmit
Transmission rate: On PGN request only
3.3.3 DM14 Memory access command message
PGN: 0xD900
Direction: Receive
Transmission rate: Random
3.3.4 DM15 Memory access reply message
PGN: 0xD800
Direction: Transmit
Transmission rate: Reply to DM14 command message
3.3.5 DM16 Memory access binary data
PGN: 0xD700
Direction: Transmit/receive
Transmission rate: When needed
3.3.6 Ground & Canopy Message
PGN: 0xC000
Direction: Transmit
Transmission rate: 50ms
Source address: Sensor address
Destination address: Broadcast (0xff)
Initial delay after start-up sequence: 200ms
All (data field) values are in little endian format. Bit1 of byte 1 = LSB of first byte