# CAN Protocol (Lifting Platform)

Enable command
Sender	Receiver	CAN ID	DLC	Period（ms）
Controller	Lifting Platform	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）
Lifting Platform	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	Lifting Platform	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\[8:15\]	uint16	unit: mm/s

Status feedback
Sender	Receiver	CAN ID	DLC	Period（ms）
Lifting Platform	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\[8:15\]	uint16
byte\[4\]	max move velocity \[0:7\]	uint16
byte\[5\]	max move velocity\[8:15\]	uint16

Request move range command
Sender	Receiver	CAN ID	DLC	Period（ms）
Controller	Lifting Platform	0x03020112	0	/
data	function	data type	description
/	/	/	/

Request move range feedback
Sender	Receiver	CAN ID	DLC	Period（ms）
Lifting Platform	Controller	0x030201B2	6	/
data	function	data type	description
byte\[0\]	move range\[0:7\]	uint16	unit: mm
byte\[1\]	move range\[8:15\]	uint16	unit: mm
byte\[2\]-byte\[5\]	reverse	uint8	0

Move velocity feedback
Sender	Receiver	CAN ID	DLC	Period（ms）
Lifting Platform	Controller	0x030201B3	6	50ms
data	function	data type	description
byte\[0\]	velocity\[0:7\]	uint16	unit: mm/s
byte\[1\]	velocity\[8:15\]	uint16	unit: mm/s
byte\[2\]-byte\[5\]	reverse	uint8	0

Position setting command
Sender	Receiver	CAN ID	DLC	Period（ms）
Controller	Lifting Platform	0x03020114	6	/
data	function	data type	description
byte\[0\]	position\[0:7\]	uint16	unit: mm
byte\[1\]	position\[8:15\]	uint16	unit: mm
byte\[2\]-byte\[5\]	reverse	uint8	0

Move position feedback
Sender	Receiver	CAN ID	DLC	Period（ms）
Lifting Platform	Controller	0x030201B4	6	50ms
data	function	data type	description
byte\[0\]	real position\[0:7\]	uint16	unit: mm
byte\[1\]	real position\[8:15\]	uint16	unit: mm
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