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]   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] 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 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] 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] 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] 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] 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