CAN bus protocol

All CAN messages for MC01 follow the same structure: a chain of bits divided in three groups:

Position	Name	Size	Description
1	CAN Id	2 bytes	If the Id matches with the Id of the MC01, the message will be read. Otherwhise, it will be ignored
2	Mode	1 byte	It indicates what kind of order is receiving the MC01
			Value	Order
			0	Turn off
			3	Move to the angular position written in Data
			4	Move to the angular speed written in Data
3	Data	3 bytes	With Mode 3, it indicates the decoded angular position in radians With Mode 4, it indicates the decoded angular speed in radians per second

The parameter that is configured in the MC01 is the CAN Id. To do it, use its respective PDI Builder and manual:

• For MC01B read MC01B PDI Builder manual -> Input/Output.

• For MC01S read MC01S PDI Builder manual -> Input/Output.