Baumer Absolute encoder User manual

Baumer Electric AG
Hummelstrasse 17
CH-8501 Frauenfeld
Phone [phone]
Fax [phone]
[e-mail] Subject to modification in technic and design.
www.baumer.com Errors and commissions excepted
Manual
Absolute encoder with SAE J1939

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Contents
1Version overview .........................................................................................................................................4
2Safety and operating instructions..............................................................................................................5
3Product Assignment....................................................................................................................................6
3.1 Absolute encoder...........................................................................................................................................6
4System 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
5CAN Frame.................................................................................................................................................11
5.1 Identifier.......................................................................................................................................................11
5.2 Parameter Group Number (PGN)................................................................................................................12
5.2.1 Identifier Examples......................................................................................................................................12
6Network Management Service..................................................................................................................13
6.1 NAME Field (PGN 60159) ...........................................................................................................................13
6.2 Address Claiming.........................................................................................................................................13
7PGN65450 - 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
8PGN61184 - 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
9Object 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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1 Version overview
This document is subject to changes. In order to have the most current version please download on www.baumer.com
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

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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)
oAddress claiming with Name-Field
PGN65450 + Group Extension (PDU1)
oCyclic process data
oFollowing 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)
oEncoder parameters
Direction
Scaling (singleturn resolution/turn, Full resolution)
Preset
oPDU2 parameters
Object mapping
Cyclic time
oBaudrate
oGroup extension
oCustomer EEPROM (4x 32-Bit)
oSave/Restore commands
BAM messages
Transport protocol

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4.3 Function Principle
4.3.1 Overview
Figure 1: Function principle overview
Direction
Correction User Zero Point (Offset)
Physical
Position
Speed
Calculating Scaling
Scaling[Inc] [Inc] [Inc]
[Inc]
[Inc/s]
[Steps]
[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 = Measuring units per revolution x Number of distinguishable revolutions
(Value Object 6002h) = (Value Object 6001h) x (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
0000 0000h
FFFF FFFFh
Output
Speed
7FFF FFFFh
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
0000h
FFFFh
Output
Speed
7FFFh
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:
𝑎𝑝𝑝𝑙𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 = 𝑒𝑛𝑐𝑜𝑑𝑒𝑟 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛
𝑖
The gear factor (i) is defined as followed:
𝑖 = 𝐺𝑒𝑎𝑟𝑉𝑎𝑙𝑢𝑒1
𝐺𝑒𝑎𝑟𝑉𝑎𝑙𝑢𝑒2
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
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
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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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.
Protocol Data Unit (PDU)
Description
Identifier
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit
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)
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
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
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)

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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
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
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)
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

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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.
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
Serial-Nr
Manufact. code
ECU Instance
Function Instance
Function
Res.
Vehicle System
Vehicle Instance
Industry Group
Arbitrary Address
capable
EAMxxx
18EEFFACh
8
A7E7
7h
157h
0h
0h
8Eh
0h
0h
0h
5h
1h
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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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
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
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:
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

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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:
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
7.3.2 Default mapping of absolute encoder
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
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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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
oEncoder Values
Position (Index 6004h)
Speed (Index 6020h / 2020h)
Diagnostic (Index 2017h)
oEncoder parameters
Direction (Index 6000h)
Scaling (singleturn resolution/turn)
Preset
oPGN65450 cyclic message parameters
Transmission rate
oBaudrate
oECU default address
oGroup extension
oCustomer EEPROM (4x 32-Bit)
oSave/Restore commands
8.1 Request frame format for PDU1
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
Sub-
Index
Data bytes
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
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

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8.3 Response Frame format for PDU1
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
Sub-
Index
Data of Object /
Error-Code
Be aware, that the LSB is always transmitted before MSB. For example Index = 2104h, Byte 1 = 04h, Byte 2 = 21h.
8.4 Response Codes
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
8.5 Error-Codes
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

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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:
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
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:
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
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:
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
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:
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

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 19/27 Frauenfeld, Switzerland
9.3 0x1018-2 Reading of the product code
Product
Product-Code
(Byte 6 and Byte 7)
Device Name
Absolute encoder multiturn
0x0070
EAMxxx MT
Absolute encoder singleturn
0x0071
EAMxxx ST
Byte 5: Major Product Code
Byte 4: Minor Product Code
Example of reading the product code
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
9.4 0x6507 Reading of the software version
Byte 7: Major FW-Version
Byte 6: Minor FW-Version
Example of reading the software version
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

Baumer_EAM580_360_SAE_J1939_MA_EN_Rev0003.0000h_Index0002.docx Baumer Electric AG
06.08.2018 20/27 Frauenfeld, Switzerland
9.5 0x2100 Baudrate
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
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
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
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
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