Pepperl+Fuchs ENA42HD-S J1939 Series Use and care manual

Encoders with J1939
Interface
Communication Manual
FACTORY AUTOMATION
MANUAL

With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the Electrical Indus-
try, published by the Central Association of the Electrical Industry (Zentralverband
Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the
supplementary clause: "Expanded reservation of proprietorship"
Encoders with J1939 Interface

Encoders with J1939 Interface
3
1 Introduction................................................................................. 4
2 Declaration of conformity .......................................................... 5
3 J1939 Interface description....................................................... 6
3.1 J1939 Message format......................................................................... 6
3.2 Interpretation of the CAN Identifier .................................................... 6
3.3 PGN Default Definitions....................................................................... 6
3.4 Position Data, PGN 61184 ................................................................... 7
3.5 Encoder Message ................................................................................ 7
3.6 Encoder Cyclic Message..................................................................... 7
4 Read and Write Definitions ........................................................ 8
4.1 Read Definitions................................................................................... 8
4.2 Write Definitions................................................................................... 9
5 Parameter Index Definitions .................................................... 10
5.1 Parameter Index 01, Counting Direction.......................................... 10
5.2 Parameter Index 02, Singleturn Resolution..................................... 10
5.3 Parameter Index 03, Total Resolution .............................................. 10
5.4 Parameter Index 04, Preset ............................................................... 10
5.5 Parameter Index 05, Cyclic Timer..................................................... 11
5.6 Parameter Index 07, Baudrate........................................................... 11
5.7 Parameter Index 08, Node ID ............................................................ 11
5.8 Parameter Index 09, Termination Resistor....................................... 11
5.9 Parameter Index FA, Save.................................................................. 12
5.10 Parameter Index FC, Restore ............................................................ 12

2018-02
4
Encoders with J1939 Interface
Introduction
1Introduction
Congratulations
You have chosen a device manufactured by Pepperl+Fuchs. Pepperl+Fuchs develops,
produces and distributes electronic sensors and interface modules for the market of
automation technology on a worldwide scale.
Before installing this equipment and put into operation, read this manual carefully. This manual
containes instructions and notes to help you through the installation and commissioning step
by step. This makes sure bring such a trouble-free use of this product. This is for your benefit,
since this:
■ ensures the safe operation of the device
■ helps you to exploit the full functionality of the device
■ avoids errors and related malfunctions
■ avoids costs by disruptions and any repairs
■ increases the effectiveness and efficiency of your plant
Keep this manual at hand for subsequent operations on the device.
After opening the packaging please check the integrity of the device and the number of pieces
of supplied.
Symbols used
The following symbols are used in this manual:
Handling instructions
You will find handling instructions beside this symbol
Contact
If you have any questions about the device, its functions, or accessories, please contact us at:
Pepperl+Fuchs GmbH
Lilienthalstraße 200
68307 Mannheim, Germany
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Note!
This symbol draws your attention to important information.

Encoders with J1939 Interface
Declaration of conformity
2018-02
5
2 Declaration of conformity
This product was developed and manufactured under observance of the applicable European
standards and guidelines.
The product manufacturer, Pepperl+Fuchs GmbH, D-68307 Mannheim, has a certified quality
assurance system that conforms to ISO 9001.
Note!
A Declaration of Conformity can be requested from the manufacturer.
ISO9001

2018-02
6
Encoders with J1939 Interface
J1939 Interface description
3 J1939 Interface description
3.1 J1939 Message format
In comparison to CANopen, which is using the 11 bit identifier (CAN-ID) J1939 is using the 29
bit CAN-ID. The CAN-ID in J1939 consists of a parameter group number (PGN) and a source
address.
A parameter group (PG) is assembled of various parameters defined in the J1939 series, such
as rotation speed, direction of rotation, etc. Thus, a PGN identifies the content of the data field.
The priority field indicates the priority of the message, where "0" is the highest priority and "7"
the lowest. If the value of the field "PDU format" is between 00
hex
and F0
hex
, the field "PDU
specific" has to be interpreted as destination address. This is used for peer-to-peer
communication between two devices. If the value of the field "PDU Format" is greater than
F0
hex
, "PDU specific" is interpreted as a so-called "group extension". The PGNs are sent
according to the producer/consumer model (broadcast). The source address has to be unique
for every device in the network and may be achieved by participating the address claiming
procedure.
3.2 Interpretation of the CAN Identifier
The CAN identifier of a J1939 message contains Parameter Group Number (PGN), source
address, priority, data page bit, extended data page bit and a target address (only for a peer-to-
peer PG).
The identifier is composed as follows:
The entire telegram contains the identifier and the data section. The following graphic shows
the identifier structure more detailed.
3.3 PGN Default Definitions
Priority
Extended
Data Page Data Page PDU Format PDU Specific
Source
Address
3 bit 1 bit 1 bit 8 bit 8 bit 8 bit
PGN description Value
Repetioion rate 50 ms
Baudrate 250 kbaud (default)
Node ID 32
Counting direction for increasing position
values
clockwise (view onto shaft)
Speed filter on
Termination resistor off

Encoders with J1939 Interface
J1939 Interface description
2018-02
7
3.4 Position Data, PGN 61184
3.5 Encoder Message
3.6 Encoder Cyclic Message
Parameter Value
Data page 0
PDU format 255 (0xFF)
PDU specific 170 (0xAA)
Data length 8 bytes
Byte Description
Byte 1 Encoder absolute position –byte 1 (LSB)
Byte 2 Encoder absolute position –byte 2
Byte 3 Encoder absolute position –byte 3
Byte 4 Encoder absolute position –byte 4 (MSB)
Byte 5 Encoder speed - byte 1 (LSB) in rpm.
Byte 6 Encoder speed - byte 2 (MSB) in rpm.
Byte 7 Byte container 1 - const.
Byte 8 Byte container 2 - const.
Identifier CAN data Description
18FFAA20 4E B8 64 0A 0F 02 00 00
(as an example)
bytes 1 ... 4: absolute encoder
position
0x0A64B84E = 174,372,942
bytes 5 ... 6: encoder speed
0x020F = 527 rpm
bytes 7 ... 8: constant

2018-02
8
Encoders with J1939 Interface
Read and Write Definitions
4 Read and Write Definitions
4.1 Read Definitions
Identifier CAN data Description
18EA2000 01 EF 00 00 00 00 00 00 Read request, direction of
rotation
18EA2000 01 00 00 00 00 00 00 00 Encoder response
Index 01, direction of rotation
0x0000 = cw
18EA2000 02 EF 00 00 00 00 00 00 Read request, singleturn
resolution
18EA2000 02 00 10 00 0000 00 00 Encoder response
Index 02, singleturn resolution
0x00001000 = 4,096
steps/revolution
18EA2000 03 EF 00 00 00 00 00 00 Read request, total resolution
18EA2000 03 00 00 00 8000 00 00 Encoder response
Index 03, total resolution
0x80000000 = 2,147,483,648
steps
18EA2000 05 EF 00 00 00 00 00 00 Read request, cycle time
18EA2000 05 32 00 00 0000 00 00 Encoder response
Index 05, PGN 65450 cycle
time
(position, speed, diagnosis)
0x0032 = cyclic
communication 50 ms
18EA2000 07 EF 00 00 00 00 00 00 Read request, baudrate
18EA2000 07 04 00 00 00FF FF FF Encoder response
Index 07, baudrate
0x04 = 250 kbaud
18EA2000 08 EF 00 00 00 00 00 00 Read request, encoder node
ID
18EA2000 08 20 00 00 00FF FF FF Encoder response
Index 08, node ID
0x20 = 32
18EA2000 09 EF 00 00 00 00 00 00 Read request, termination
resistor
18EA2000 09 00 00 00 00FF FF FF Encoder response
Index 09, termination resistor
0x00 = termination resistor off

Encoders with J1939 Interface
Read and Write Definitions
2018-02
9
4.2 Write Definitions
Identifier CAN data Description
00EF2000 01 00 00 00 00 00 00 00 Index 01, direction of rotation
0x0000 = cw
00EF2000 02 00 10 00 00 00 00 00 Index 02, singleturn resolution
0x00001000 = 4,096
steps/revolution
00EF2000 03 00 00 00 20 00 00 00 Index 03, total resolution
0x20000000 = 536,870,912
00EF2000 04 00 00 00 00 00 00 00 Index 04, preset
0x04A8610000FFFFFF =
25,000
00EF2000 05 00 00 00 00 00 00 00 Index 05, PGN 65450 cycle
time
(position, speed, diagnosis)
0x0000 = cyclic
communication stopped
00EF2000 07 03 00 00 00 00 00 00 Index 07, baudrate
0x03 = 125 kbaud
00EF2000 08 20 00 00 00 00 00 00 Index 08, node ID
0x20 = 32
00EF2000 09 00 00 00 00 00 00 00 Index 09, termination resistor
0x00 = off
00EF2000 FA 73 61 76 65 FF FF FF save parameter and reset
00EF2000 FC 6C 6F 61 64 FF FF FF restore factory settings and
save and reset

2018-02
10
Encoders with J1939 Interface
Parameter Index Definitions
5 Parameter Index Definitions
5.1 Parameter Index 01, Counting Direction
5.2 Parameter Index 02, Singleturn Resolution
5.3 Parameter Index 03, Total Resolution
5.4 Parameter Index 04, Preset
Type Description
data type unsigned 16
access r/w
default 0
function counting direction
values Bit 0, direction of rotation
0: cw (clockwise)
1: ccw (counter-clockwise)
Type Description
data type unsigned 32
access r/w
default 0x00001000 = 4,096 steps/revolution
function singleturn resolution
values > 4,096 and must be equal to 2
n
Type Description
data type unsigned 32
access r/w
default 0x80000000 = 2,147,483,648 steps
function total resolution
values singleturn resolution * number of revolutions
(must be equal to 2
n
)
Type Description
data type unsigned 32
access r/w
default 0
function allows to set the zero point at the current
position
values value within total resolution