CAN Bus protocol

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 the Input/Output section of the MC01B PDI Builder user manual.

  • For MC01S read the Input/Output section of the MC01S PDI Builder user manual.