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 |
| |
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.