CAN Protocol (Lifting Platform)
| Enable command | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x03020103 |
4 | / | |
| data | function | data type | description | |
| byte[0] | / | uint8 | Fixed value 0x03 | |
| byte[1] | / | uint8 | Fixed value 0x02 | |
| byte[2] | / | uint8 | Fixed value 0x01 | |
| byte[3] | enable | uint8 | 0-disable 1-enable | |
| Heartbeat feedback | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x030201B0 |
1 | 500ms | |
| data | function | data type | description | |
| byte[0] | enable | uint8 | 0-disable 1-enable | |
| Status command | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x03020111 |
3 | / | |
| data | function | data type | description | |
| byte[0] | return to zero point | uint8 | 1-start | |
| byte[1] | max move velocity[0:7] | uint16 | unit: mm/s | |
| byte[2] | max move velocity[8:15] | |||
| Status feedback | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x030201B1 |
6 | 100ms | |
| data | function | data type | description | |
| byte[0] | status | uint8 | 0:normal 1:abnormal | |
| byte[1] | return to zero point status | uint8 | 0-finished 1-calibrating | |
| byte[2] | errorcode [0:7] | uint16 | ||
| byte[3] | errorcode[8:15] | |||
| byte[4] | max move velocity [0:7] | uint16 | ||
| byte[5] | max move velocity[8:15] | |||
| Request move range command | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x03020112 |
0 | / | |
| data | function | data type | description | |
| / | / | / | / | |
| Request move range feedback | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x030201B2 |
6 | / | |
| data | function | data type | description | |
| byte[0] | move range[0:7] | uint16 | unit: mm | |
| byte[1] | move range[8:15] | |||
| byte[2]-byte[5] | reverse | uint8 | 0 | |
| Move velocity feedback | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x030201B3 |
6 | 50ms | |
| data | function | data type | description | |
| byte[0] | velocity[0:7] | uint16 | unit: mm/s | |
| byte[1] | velocity[8:15] | |||
| byte[2]-byte[5] | reverse | uint8 | 0 | |
| Position setting command | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x03020114 |
6 | / | |
| data | function | data type | description | |
| byte[0] | position[0:7] | uint16 | unit: mm | |
| byte[1] | position[8:15] | |||
| byte[2]-byte[5] | reverse | uint8 | 0 | |
| Move position feedback | ||||
| Sender | Receiver | CAN ID | DLC | Period（ms） |
| Controller | 0x030201B4 |
6 | 50ms | |
| data | function | data type | description | |
| byte[0] | real position[0:7] | uint16 | unit: mm | |
| byte[1] | real position[8:15] | |||
| byte[2]-byte[5] | reverse | uint8 | 0 | |
Example
1. Enable device
CAN ID: 0x03020103, Data: 03 02 01 01
2. Set position 100mm
CAN ID: 0x03020114, Data: 64 00 00 00 00 00