CAN Bus protocol

All CAN messages for MC110 follow the same structure: a string of bits divided in two groups:

Group	Name	Size	Description
1	CAN Id	2 bytes	If the CAN Id matches with the Id of a MC110 input filter (a type of CAN consumer), the message will be read by the MC speed filter consumer. Otherwise it will be ignored.
2	Speed	4 bytes	Speed is represented as a signed integer. Negative values command the opposite movement of the positive ones. The maximum value corresponds with the maximum speed and the maximum negative value corresponds with the maximum reversed speed.

MC110 can receive commands from any CAN device. An example for sending commands from Veronte Autopilot 1x is explained in the MC110/MC24 - Integration examples section of the 1x PDI Builder user manual.

The parameter that is configured in the MC110 is the CAN Id of a producer Input filter, which has to be linked with the consumer CAN cmd. To know more, read the CAN I/O - Input/Output section of the MC110 PDI Builder user manual.