Protocol Description SAE J1939

Part

No.: 6

70069 S

tand:

20.0

8.2

021

E

(Translation of

original

instructions)

Protocol

Description

SAE J1939

HLT 1100

Linear Position

Transmitter

2 HLT 1100 SAE J1939

Edition: 2021-08-20 HYDAC ELECTRONIC GMBH Part no.: 670069

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Content

1 Introduction ______________________________________________________ 5

1.1 Functions ............................................................................................................ 5

2 Address Claiming __________________________________________________ 5

2.1 General overview ............................................................................................... 5

2.2 Name ................................................................................................................... 5

2.3 Address ............................................................................................................... 6

2.4 Start-up process ................................................................................................. 7

3 Basic principles ___________________________________________________ 7

3.1 General communication characteristics .......................................................... 7

3.2 Display of numeric figures ................................................................................ 7

4 Configuration _____________________________________________________ 8

4.1 General overview ............................................................................................... 8

4.2 Settings ............................................................................................................... 8

4.2.1 List of the settings (Object List "OL") _______________________________ 8

a. Profile _________________________________________________________ 9

b. General ________________________________________________________ 9

c. Name sections __________________________________________________ 9

d. Measured value transmission, position + speed ______________________ 9

e. Measured values display, position ________________________________ 10

f. Measured values display, speed __________________________________ 10

g. Operation Data ________________________________________________ 11

h. Additional settings for position and speed __________________________ 11

i. Commands____________________________________________________ 11

4.2.2 Setting of the Baud rate _________________________________________ 11

4.2.3 Settings for measured value transmission __________________________ 12

4.2.4 Settings of measured values display ______________________________ 13

4.2.5 Device status __________________________________________________ 14

4.3 Carry out configuration ................................................................................... 14

4.4 Structure of the SAE J1939 29-BIT CAN-ID .................................................... 15

4.4.1 Description PGN 61184 "Proprietary A" ____________________________ 15

4.4.2 CAN-ID Example for configuration communication with sensor address 1 _ 15

4.5 Short description of the configuration message ........................................... 16

4.5.1 Description "ack" (Acknowledge Code) of the configuration message ___ 16

4.5.2 Description of the configuration range "value" ______________________ 17

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4.6 Commands........................................................................................................ 17

4.6.1 Start editing mode ______________________________________________ 17

4.6.2 Saving the settings _____________________________________________ 18

4.6.3 Reset to factory default settings __________________________________ 18

4.6.4 Restart _______________________________________________________ 18

4.7 Example configuration process ...................................................................... 18

4.7.1 Example: Read out profile number ________________________________ 18

4.7.2 Example: Reading the serial number ______________________________ 19

4.7.3 Example: Edit Baud rate _________________________________________ 19

4.7.4 Example for a communication sequence ___________________________ 20

4.7.5 CAN Log Example HDA 7000 J1939 Address 1 Transmit-Rate to 100 ms _ 20

5 Sending of measured values ________________________________________ 21

6 Miscellaneous ____________________________________________________ 21

7 Contact _________________________________________________________ 22

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Preface

This documentation describes the intended use of the product within a superordinate control system. It will help you to get acquainted with the provided communication interface and assist you in obtaining maximum benefit in the possible applications for which it is designed. The specifications given in this documentation represent the state-of-the-art of the product at the time of publishing. Modifications to technical specifications, illustrations and dimensions are therefore possible. Should you find any errors whilst using this manual, or have any suggestions for improvements, please contact: HYDAC ELECTRONIC GMBH Technische Dokumentation Hauptstrasse 27 66128 Saarbruecken -Germany- Phone: +49(0)6897 / 509-01 Fax: +49(0)6897 / 509-1726 Email: [email protected] We look forward to receiving your input. “Putting experience into practice” ------------------------------------------------------------------------------------------------- This document, including the illustrations contained therein, is subject to copyright protection. Use of these instructions by third parties in contravention of copyright regulations is forbidden. Reproduction, translation as well as electronic and photographic archiving and modification require the written permission of the manufacturer. Offenders will be liable for damages. In the event of translation, only the original version of the instruction manual in German is legally valid.

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1 Introduction

The HLT has a CAN 2.0 B interface and can be operated according to the process defined in the standards SAE-J1939. The interface functions are subdivided into 3 parts:

Address Claiming, Configuration and Sending of measured values

1.1 Functions

Measuring the current position using: - 2 kHz sample rate - Resolution 0.1 mm

Measuring the current speed using: - 2 kHz sample rate

Conversion of the measured values into a related user-scaleable linear process value

Sending of current measured values - Cyclically, within the range from 1 millisecond up to 1 minute

2 Address Claiming

2.1 General overview

Each HLT has a name and an address. Both can be configured by the user. The name of the HLT is a 64 bit value and is clearly recognisable worldwide, the address is an 8 bit value which must be clearly recognisable by the bus. This means, it is not allowed to have two devices with the same address connected to the same bus.

During Address Claiming the HLT communicates its address and name to the other bus participants. This is a reaction to eventual address conflicts.

2.2 Name

The name consists of the following parts: Addressing ability

1 Bit Arbitrary Address Capable

Function specific sections

3 Bit Industrial Group (i.e. Global, Marine, Agriculture, etc.)

7 Bit Vehicle System (depends on Industrial Group: Tractor, trailer, etc.)

4 Bit Vehicle System Instance (sequence number for systems of the same kind)

8 Bit Function (depending on Industrial Group: i.e. System Display, Levelling System, etc.)

5 Bit Function Instance (sequence number for functions of the same kind)

3 Bit ECU-Instance (sequence number for controllers having the same function)

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Manufacturer specific sections

11 Bit Manufacturer Code

21 Bit Idendity The function-related parts are configurable, the manufacturer-related parts are firmly defined. This ensures a worldwide clear address identification.

Options for changing the J1939 name:

Via Index 10-19

The sensor supports the J1939 name management to standard J1939-81. By means of the "name management" - Message (PGN 37632) the J1939 name can be changed during operation. The manufacturer code of the J1939 name may not be changed, it always corresponds with the manufacturer ID.

2.3 Address

The address can be set between 0 and 253. The address 254 is reserved for the status "no address assigned", the value 255 is used as broadcast address.

In each message the HLT sends, the address is assigned to the lowest 8 bits of the CAN ID.

Possibilities for addressing:

The sensor can be configured as a "service configurable device" via an extra process which is separated from the bus. With this process, our proprietary entries will be used to address the device (Index 1).

The sensor supports the dynamic addressing according to the J1939-81 standard. Dynamic addressing is enabled if the bit "arbitrary address capable" of the J1939 name corresponds to 1 and inactive, when it corresponds with 0. If dynamic addressing is enabled, the device sends a "request for address claim" message at start-up, in order to detect all the used addresses and to select one free address in a second step.

The sensor supports the "commanded address" message (PGN 65240) to the J1939-81 standard. Herewith a new address can be assigned to the device after a previous failure of an address claim has occurred. The configured address is valid until next restart, however, it can be stored persistently via a subsequent configuration process by means of the entry 102.

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2.4 Start-up process

After each start-up, the HLT sends an "Address Claimed" message. Thus, it communicates its address and its name to the other participants. This message can also be requested by other participants using a "request" message.

If an other participant sends an "Address Claimed" message using the same address, the reaction of the HLT depends on the name of the other participant.

If HLT name is lower than the numerical name of the other participant, it again sends an "Address Claimed" message.

If the HLT name is (numerically) higher and does not use dynamic addressing, it will send a "Cannot Claim" message, it does neither have an own address nor will it start operating. It needs to be briefly disconnected from the supply voltage or it requires manual configuration by means of a "commanded address" message (PGN65240). If dynamic addressing is enabled, the HLT selects the next available address, sends a new "address claimed" message and, if necessary, performs a new priorisation of the name. This processus is repeated until a vacant address has been claimed or until no vacant address could be found. If no vacant address could be found, a "cannot claim" message will be sent.

After sending an "Address Claimed" message, it takes 250 ms until the HLT takes up its regular operation mode. This is one of the requirements of SAE-J1939 to give other devices having the same address enough time to respond.

3 Basic principles The following sections will explain non-product specific information for a better understanding of the functioning principle of a measurement system with a communication interface.

3.1 General communication characteristics

In general, the measurement systems are the end-nodes within a communication network. They do not take control of their superordinate network themselves. However, these devices are able to generate and send information spontaneously. In doing this, the measurement systems mainly serve as a data source.

3.2 Display of numeric figures

The figures without additional marking are displayed as numeric figures with decimals (number basis 10). For a more simple display of data blocks, however, hexadecimal representation is also very commonly used (number basis 16). In our document, the hexadecimals are generally marked by a "0x" as a prefix.

Decimal numbers, when displayed in a mixed representation, are marked with the additional suffix "d".

Binary numbers (number basis 2) are marked by suffix "b".

0x12 12 hexadecimal → 18 decimal

0xA2 A2 hexadecimal → 162 decimal

16d 16 decimal → 10 hexadecimal

66d 66 decimal → 42 hexadecimal

10b 10 binary → 2 decimal

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4 Configuration

4.1 General overview

The HLT has different settings which can be read and written by a master using SAE-J1939 messages. This is carried out by means of a so-called proprietary parameter group A with the PGN 61184 (0x00EF00). The data then contain information on which settings need to be read or written as well as information on the configuration parameters.

4.2 Settings

All settings are managed in an object list OL (similar to CANopen "object dictionary"). CANopen. All configuration objects in this list have a clear index, by means of which they can be addressed individually. Some of the objecs represent device settings which can also be changed by the operator. In the following tables, the objects or settings for the HLT 1300 are listed with their related index. The object list is specific for each sensor with its special requirements.

The object access can only be defined as "read only" (ro) or "read and write" (rw). Objects representing the device settings are generally changeable (rw).

The description of a communication process for reading or writing the settings in the object list can be taken from the following chapters:

4.3 Carry out configuration

4.4 Structure of the SAE J1939 29-BIT CAN-ID

4.5 Short description of the configuration message

4.6 Commands

4.7 Example configuration process

4.2.1 List of the settings (Object List "OL")

In the following table, all the settings with their corresponding index are listed. The entries are addressed via a numerical index. For complex objects, there is also the option for addressing subordinate entries by mean of a sub index. For simple objects, however, this value is "0".

The data type indicates how the data are to be interpreted. In a uint16 value for example, only the two first bytes are used and interpreted as an unsigned 16 bit integer value; see chapter 4.5.2 Description of the configuration range "value".

Some settings can only be read (ro = read only), others can be written as well (rw = read write).

All default settings shown in brackets are typical and may deviate from the pre-set factory settings. Note: All index and sub index values of the OL are indicated in decimal notation.

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a. Profile

Index sub index Data type r/w Settings

0 0 uint16 ro The profile number defines the layout of the setting table. It is always 0 for HLT.

b. General


1 0 uint8 rw Address (1)

2 0 uint8 rw Baud rate, see Baud rate table below. (3 = 250 kBit/s)

3 0 string ro The characters 1-4 in the internal device ID correspond with the Software ID ("HLT1").

4 0 string ro The characters 5-8 of the internal device ID (Software ID) ("000")

5 0 string ro Version and release number (i.e. 0102=Version1, Release2)

6 0 uint32 ro Product code, 32 bit number

7 0 uint32 ro Serial number, 32 bit number

c. Name sections


10 0 unit8 rw 1 Bit Arbitrary Address Capable (addressing mode)

11 0 uint8 rw 3 Bit Industrial group (0=Global)

12 0 uint8 rw 7 Bit Vehicle system (0x7F)

13 0 uint8 rw 4 Bit Vehicle system instance (0)

14 0 uint8 rw 8 Bit Function (0xFF)

15 0 uint8 rw 5 Bit Function instance (0)

16 0 uint8 rw 3 Bit Control unit instance (0)

17 0 unit8 rw 1 Bit Reserved

18 0 uint16 ro 11 Bit Manufacturer code (124 = HYDAC ELECTRONIC GMBH)

19 0

uint32 ro 21 Bit Identity Number (corresponds with serial

number)

d. Measured value transmission, position + speed


21 0 uint16 rw Transmission rate [ms] (e.g. 100)

22 0 uint8 rw Message length [Bytes], 2..8 (e.g. 8)

23 0 uint8 rw Priority, 0..7 (e.g. 6)

24 0 uint8 rw PDU format (e.g. 0xFF = proprietary B)

25 0 uint8 rw PDU Specific (e.g. 0x00)

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26 0 uint8 rw Offset of the measured variable "position" in the message [bytes] (e.g. 0), see chapter 4.2.3 Settings

for measured value transmission

27 0 uint8 rw Offset of the measured variable "speed" in the message [bytes] (e.g. 4), see chapter 4.2.3 Settings

for measured value transmission

28 0 uint8 rw Extended Data Page bit (e.g. 0)

29 0 uint8 rw Data Page bit (e.g. 0)

e. Measured values display, position

The default values depend on the measuring range of the linear position transmitter. In the following, the default values for an HLT 1300 linear position transmitter with a measuring range of 1000 mm are listed.


41 0 uint8 ro Unit (of measurement) 7: 0.1 mm

42 0 uint8 rw Data length (4)

2: 16 Bit (2 Bytes), 4: 32 Bit (4 Bytes)

43 0 uint32 rw Resolution per digit with 3 decimals (i.e. 50;

increment here: 0.050 mm)

44 0 int32 rw Offset of the measured value with 3 decimals (e.g. 0)

45 0 int32 ro Lower measuring range with 3 decimals (i.e. 0)

46 0 int32 ro Upper measuring range with 3 decimals

(e.g. 1000000 = 1000.000 mm)

f. Measured values display, speed


51 0 uint8 ro Unit (of measurement) 8: mm/s

52 0 uint8 rw Data length (4) 2: 16 Bit (2 Bytes), 4: 32 Bit (4 Bytes)

53 0 uint32 rw Resolution per digit with 3 decimals (i.e. 50; increment here: 0.050 mm/s)

54 0 int32 rw Offset of the measured value with 3 decimals (e.g. -

3000000 = -3000 mm/s)

55 0 int32 ro Lower measuring range with 3 decimals

(e.g. -3000000 = -3000 mm/s)

56 0 int32 ro Upper measuring range with 3 decimals (e.g. 3000000 = 3000 mm/s)

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g. Operation Data


81 0 uint16

uint32 ro Measured value, position

Data type depending on Index 42 "data length"

82 0 uint16

uint32 ro Measured value, speed

Data type depending on Index 52 "data length"

85 0 uint8 ro Status

h. Additional settings for position and speed


91 0 uint16 ro Integration time of the speed [ms]

92 0 Uint8 ro Measurement direction 0 = forward, 1 = backwards (e.g. 0)

i. Commands

see chapter 4.6 Commands


101 0 uint32 wo Start editing mode ("edit")

102 0 uint32 wo Saving the settings ("save")

103 0 uint32 wo Reset to factory default settings ("load")

104 0 uint32 wo Restart ("boot")

4.2.2 Setting of the Baud rate

HLT supports Baud rates from 10 kBit up to 1 MBit, according to the following table:

Index Baud rate

0 1000 kBit

1 800 kBit

2 500 kBit

3 250 kBit

4 125 kBit

5 100 kBit

6 50 kBit

7 20 kBit

8 10 kBit

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4.2.3 Settings for measured value transmission

During transmission of the measured values it is defined in which message the current measured values will be transmitted and at which byte position and how often. This enables to adapt the transmission of the measured values to an existing PGN. The data width, however, is always 16 bits, which means 2 bytes. The temperature can thus, for instance, be transmitted from the 4th byte in a message of 8 bytes length. The remaining 6 bytes in the message are empty.

If the offset of a measured value is set to 0xFF, the measured value of this measured variable will not be used in the PGN. Whether the offset is valid or not, depends on the offsets of the other measured variables, their data length and the total length of the message. The following settings are possible:

The transmission rate (see Index 21) indicates how often the relevant measured value is transmitted. The value is expressed in ms. At 0 ms the measured value is only transmitted on request.

The length of the message in which the measured value is transmitted (see Index 22).

The priority of the message (see Index 23).

The PGN (Parameter Group Number) consisting of PF (Parameter Format) (see Index 24) and PS (Parameter Specific) (see Index 25). The result of this PGN combined with the priority and the address is the ID of the message by means of which the measured value(s) is (are) sent.

Offset of the relevant measured values in the message (see index 26 and index 27).

Example: Transmission of the measured position value Message length: 6 Bytes Data length of the measured position value: 2 Bytes Offset position: 2 Bytes Offset speed: 0xFF Data: 0xFF 0xFF PV PV 0xFF 0xFF Example: Transmission of the measured position and speed values Message length: 8 Bytes Data length of the measured position value: 2 Bytes Offset position: 0 Bytes Data length of the speed value: 2 Bytes Offset speed: 4 Bytes Data: PV PV 0xFF 0xFF VV VV 0xFF 0xFF

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4.2.4 Settings of measured values display

The settings of the measured values display defines how the relevant measured values will be displayed as a numerical value. The following settings are possible:

The units of the position and speed can only be read (see Index 41 and 51).

The data length providing the current measured values is pre-set to 32 bit (4 bytes). It can be changed to 16 bit (see Index 42 and 52).

By setting the resolution and the offset (see Index 43 and 44, 53 and 54,), you can adjust the display of the current measured values. All settings have 3 decimals as well. The resolution indicates the relevant measured value per digit.

HLT only sends out the correct measured values if the measured values display is configured in a way that all values within the measuring range fit into an unsigned 16 bit or 32 bit value.

In the case of a 16 bit representation the measured value has to be configured in a way that it stays within a range of [0..0xFFFD].

In the case of a 32 bit representation the measured value has to be configured in a way that it stays within a range of [0..0xFFFFFFFD].

The values 0xFFFE (0xFFFFFFFE in a 32 bit representation) and 0xFFFF (0xFFFFFFFF in a 32 bit representation) are reserved according to SAE J1939 and can therefore not be used as measured values.

The 0xFFFE value signalises a measured value failure, the 0xFFFF indicates a measured value which is not available.

Should an error occur, the device mode and the device status provide more detailed information accordingly.

Example 1 Positon Measurement range from 0 up to 1000 mm

The current position value has to be sent in steps of 0.5 mm. This leads to the following settings

Unit (of measurement): 7 (= mm)

Lower measuring range: 0 (0.000 mm)

Upper measuring range: 1000000 (1000.000 mm)

Offset: 0 (0.000 mm)

Resolution: 500 (0.500 mm/digit) This means, a value of 12000 corresponds with 600 mm.

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4.2.5 Device status

The 32 bit device mode and the device status (see Index 85) display the device status. Each bit of the device status indicates a status. In the following table, all of the possible statuses are listed.

In case of multiple errors, the status will result from an or-operation of the error values.

Status Error

0x00000000 No Error

Bit0 (0x00000001) Error while loading the user settings

Bit1 (0x00000002) Reserved


Bit3 (0x00000008) Error while detecting position value



Bit6 (0x00000040) Faulty configuration of the 1st PG


Bit8 (0x00000100) Position value range not reached

Bit9 (0x00000200) Position value range exceeded

Bit10 (0x00000400) Speed value range not reached

Bit11 (0x00000800) Speed value range exceeded





Bit 16 (0x00010000) Reserved






Bit 22 (0x00400000) Error waiting in the receive queue of the module's CAN handler.

4.3 Carry out configuration

To read or write the settings, the master sends a message with the parameter group number PGN 61184 (0x00EF00) "Proprietary A" to the HLT's address. The HLT responds to the request by the same PGN (parameter group number). The structure of the response corresponds with the inquiry and always contains an acknowledge code (see chapter 4.5.1 Description "ack" (Acknowledge Code) of the configuration message.

In case of reading requests the requested data which have been read out from the OL-Index are written into the value range of the response.

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This special PGN is intended for the customised communication according to SAE J1939-21. The PGN is part of the specific parameter groups which means the "PDU Specific" part of the PGN contains the address of the target device, in our case the device address of the sensor.

Procedure for the permanent change of settings must be strictly adhered to:

"Start editing mode", see commands chap. 4.6.1

o Reading and writing of the desired Object List Entries

...

"Saving the settings", see commands chap. 4.6.2

"Restart", see commands chap. 4.6.4

Please note: The reading of entries from the Object List (OL) can be carried out directly.

4.4 Structure of the SAE J1939 29-BIT CAN-ID

4.4.1 Description PGN 61184 "Proprietary A"

Transmission rate On request

Data length of the message 8

Extended Data Page (EDP) 0

Data Page (DP) 0

PDU format 239 (0xEF)

PDU specific Sensor device address (see chapter 4.2.1 List of the settings (Object List "OL") OL Index 1)

Priority 6

4.4.2 CAN-ID Example for configuration communication with sensor address 1

1 1 0 0 0 (11000 binary = 18 hex)

18 EF 01 02

CAN-ID = 0x18EF0102

Priority, EDP, DP: see Table 4.4.1 Description PGN 61184 "Proprietary A"

Bitposition

29 Bit-ID28 26 25 24 23 16 15 8 7 0

EDP DP

>=0xF0 Group Extension

Priority Parameter Group Number (PGN) Source Address

PDU Format PDU Specific

< 0xF0 Destination Adress

Bitposition

29 Bit-ID28 26 25 24 23 16 15 8 7 0

EDP DP

>=0xF0 Group Extension

Priority Parameter Group Number (PGN) Source Address

PDU Format PDU Specific

< 0xF0 Destination Adress

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4.5 Short description of the configuration message

The configuration message serves to read or write entries in the object list. Here, the data range of the configuration message (PGN 61184) is subdivided as follows:

Index Byte 1

r/w Byte 2

dc Byte 3

ack Byte 4

Value

Byte 5 Byte 6 Byte 7 Byte 8

Byte Name Content

1 Index Index of the object in the object list "OL"

2 r/w Read or write access, 0=read, 1=write

3 sub

index Sub index of the configuration (0 if no sub index is used)

4 ack Acknowledge code, see table description of "Acknowledge Code“

5-8 Value Used data, "Little Endian" format

For entries in which a sub index is used, i.e. 59 (status channel) a sub index has to be set in order to inquire the channel.

4.5.1 Description "ack" (Acknowledge Code) of the configuration message

Byte 4 "ack" of the configuration message (PGN 61184) will be defined by the query

processing depending on the sensor. If requested by the master, this byte is always 0.

"ack" Byte 4 Description of "Acknowledge Code"

0 OK; always set to 0 in the case of requests

1 Parameters read only

2 Value too high

3 Value too low

4 Index does not exist

5 Error while saving parameters

6 Error while restoring parameters

7 Invalid r/w Byte (i.e. >1)

8 Parameters write only

9 Invalid data

10 Processor occupied

11 Error while accessing the hardware

12 Sub index does not exist

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4.5.2 Description of the configuration range "value"

The user data range "Value" of the configuration message will be defined using the data type of the OL (object list). The data type defines the number of used data bytes. The number is represented in "Little-Endian" which means the least significant data byte (LSB) will be located at the lowest address (byte 5).

Example: In a uint16 value, for example, only the first two bytes (byte 5 and byte 6) configuration message's value range are used and interpreted as unsigned 16 bit integer value.

Datatype Bit Value

(Byte 5) (Byte 6) (Byte 7) (Byte 8)

uint8 8 LSB x x x

uint16 16 LSB MSB x x

uint32 32 LSB LSB+1 LSB+2 MSB

bool8 8 LSB x x x

string[4] 32 [0] [1] [2] [3]

LSB: Least Significant Bit/Byte

MSB: Most Significant Bit/Byte

x Byte is not used

4.6 Commands

Commands are a special function with the configuration They are handled via the PGN 61184

as well. In contrast to the general entries in the Object List (OL), writing on a control command

index triggers a function in the device.

4.6.1 Start editing mode

Before the settings are written, the master must set the sensor to the editing mode. This is carried out by writing the string "edit" into the Index 101. In the editing mode, the sensor reacts exclusively to configuration commands. The editing mode can only be finished by restart.

Prior to restarting, the changes must explicitly be saved (Index 102). If restart is carried out without saving, all changes will be lost!

Master

Sensor

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4) Value ( "edit")


101 1 0 0 0x65 "e" 0x64 "d" 0x69 "i" 0x74 "t"

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value


101 1 0 0 0 0 0 0

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4.6.2 Saving the settings

The changed settings will not automatically become persistent, which means, they will not be stored permanently. For this purpose, an extra storage process needs to be carried out explicitly. This is carried out by writing the string "save" into the Index 102. Master

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4) Value ( "save")


102 1 0 0 0x73 "s" 0x61 "a" 0x76 "v" 0x65 "e"

Sensor

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value


102 1 0 0 0 0 0 0

4.6.3 Reset to factory default settings

The settings can be reset to factory default settings at any time. For this purpose, the string "load" must be written into Index 103. Master

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4) Value ( "load")


103 1 0 0 0x6C "l" 0x6F "o" 0x61 "a" 0x64 "d"

Sensor

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value


103 1 0 0 0 0 0 0

4.6.4 Restart

A restart is carried out by briefly disconnecting the sensor from the power supply. A restart can also be carried out by writing the string "boot" into the index 104. This command is not responded to by the sensor, as the sensor will be reinitialised immediately. Master

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4) Value ( "boot")


104 1 0 0 0x62 "b" 0x6F "o" 0x6F "o" 0x74 "t"

4.7 Example configuration process

The configuration message for all the following examples is the previously described PGN is

61184 (0x00EF00), in case of a successful request, the sensor responds by using the same

PGN.

4.7.1 Example: Read out profile number

All the settings of one device are combined in one profile. By reading of Index 0 of the Object List (OL) the 2 bytes long profile number is sent, the HYDAC inclination sensor HIT sends the profile number 4. As described earlier, the reading of the entry in the Object List is possible directly without a prefixed command.

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Master

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value


0 0 0 0 0 0 0 0

Sensor

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value ( 4)


0 0 0 0 4 0 0 0

4.7.2 Example: Reading the serial number

By writing onto the OL Index 7 the serial number can be read out. Master

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value


7 0 0 0 0 0 0 0

Sensor (PGN 61184)

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value ( 0x12345678 [305.419.896d])


7 0 0 0 0x78 0x56 0x34 0x12

4.7.3 Example: Edit Baud rate

The Baud rate is set via a Baud rate index (see chapter 4.2.2 Setting of the Baud rate). The parameter is located on the OL Index 2 of the OL. In the example the Baud rate 500 kBit/s is set (Baud rate index 2). A new Baud rate will not be saved before the Baud rate index has been changed, saved and the device has been restarted. As an entry will be changed in the Object List in this example, writing must be activated previously. Master

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value ( 2 = 500 kBit/s)


2 1 0 0 2 0 0 0

Sensor

Index

(Byte 1)

r/w

(Byte 2)

dc

(Byte 3)

ack

(Byte 4)

Value ( 4)


2 1 0 0 0 0

0 0

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4.7.4 Example for a communication sequence

The following example is based on the communication between a sensor configured to the

device address 1 and a sender using the device address 2 (i.e. controller or a PC with a CAN

interface). The Baud rate of the sensor is changed to 500 kBit/s. For this purpose, the

configuration mode has to be activated and afterwards, the Baud rate is changed, the

changes in the OL will be permanently stored and finally, the sensor is restarted --> Please

ensure that the Baud rate is also changed subsequently in the master.

CANID Index

Byte 1

r/w

Byte 2

dc

Byte 3

ack

Byte 4

Value ( 4)

Byte 5 Byte 6 Byte 7 Byte 8

0x18EF0102 101 1 0 0 0x65 "e" 0x64 "d" 0x69 "i" 0x74 "t"

0x18EF0201 101 1 0 0 0 0 0 0

0x18EF0102 2 1 0 0 2 0 0 0

0x18EF0201 2 1 0 0 0 0 0 0

0x18EF0102 102 1 0 0 0x73 "s" 0x61 "a" 0x76 "v" 0x65 "e"

0x18EF0201 102 1 0 0 0 0 0 0

0x18EF0102 104 1 0 0 0x62 "b" 0x6F "o" 0x6F "o" 0x74 "t"

0x18EF0201 104 1 0 0 0 0 0 0

4.7.5 CAN Log Example HDA 7000 J1939 Address 1 Transmit-Rate to 100 ms

ID (hex)

| Data Length

| | Data Bytes (hex) ...

| | |

----- ----+--- + -+ -- -- -- -- -- -- --

Rx 18EEFF01 8 00 00 80 0F 00 FF FE 00 Sensor „boot-up“

Tx 18EF0102 8 65 01 00 00 65 64 69 74 Start Editmode

Rx 18EF0201 8 65 01 00 00 00 00 00 00 Sensor Response OK

Tx 18EF0102 8 15 01 00 00 64 00 00 00 Write OL index 21


Tx 18EF0102 8 66 01 00 00 73 61 76 65 Save OL


Tx 18EF0102 8 68 01 00 00 62 6F 6F 74 Reboot sensor


Rx 18EEFF01 8 00 00 80 0F 00 FF FE 00 Sensor „boot-up“

Rx 18FF0001 8 ED 03 FF FF FF FF FF FF Pressure value

Rx 18FF0001 8 ED 03 FF FF FF FF FF FF Pressure value

Rx 18FF0001 8 EC 03 FF FF FF FF FF FF Pressure value

Rx 18FF0001 8 EC 03 FF FF FF FF FF FF Pressure value

…

HLT 1100 SAE J1939 21


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5 Sending of measured values Depending on the configuration, HLT sends the current measured values for position and speed within one message. The configuration was described in the previous chapter, see chapter 4 .Configuration), the specific settings for the measured value transmission (see chapter "measured value transmission").

In addition to being sent cyclically, the measured value can also be requested by means of a "request" message, PGN 59904 (0x00EA00) at any time.

6 Miscellaneous The Software Identification (version number) can be requested by means of a "request" message on PGN 65242 (0x00FEDA).

22 HLT 1100 SAE J1939


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7 Contact HYDAC ELECTRONIC GMBH Hauptstr. 27 D-66128 Saarbruecken Germany

Web: www.hydac.com E-mail: [email protected] Phone: +49 (0)6897 509-01 Fax.: +49 (0)6897 509-1726

HYDAC Service For enquiries about repairs or alterations, please contact HYDAC Service.

HYDAC SERVICE GMBH Hauptstr. 27 D-66128 Saarbruecken Germany Phone: +49 (0)6897 509-1936 Fax: +49 (0)6897 509-1933

NOTE

The information in this manual relates to the operating conditions and applications described. For applications and/or operating conditions not described please contact the relevant technical department.

If you have any questions or suggestions or encounter any problems of a technical nature, please contact your HYDAC representative.

http://www.hydac.com/

mailto:[email protected]

Documents

Protocol Description SAE J1939