| Enable command |
| Sender |
Receiver |
CAN ID |
DLC |
Period（ms） |
| Controller |
MobilePlatform |
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） |
| MobilePlatform |
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 |
MobilePlatform |
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） |
| MobilePlatform |
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 |
MobilePlatform |
0x03020112
|
0 |
/ |
| data |
function |
data type |
description |
| / |
/ |
/ |
/ |
| |
| Request move range feedback |
| Sender |
Receiver |
CAN ID |
DLC |
Period（ms） |
| MobilePlatform |
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） |
| MobilePlatform |
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 |
MobilePlatform |
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） |
| MobilePlatform |
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 |
Data |
| 0X03020103 |
03 02 01 01 |
| 2.set position 100mm |
| CAN ID |
Data |
| 0X03020114 |
64 00 00 00 00 00 |
| |
|
|
|
|
