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CAN

Referencing

  1. Send referencing command
  2. Have understood referencing command
  3. After some time, ,,in position 5.792 [mm]''

ID DLC D-Len Cmd Data
M->S 0x501 0x02 0x01 0x92
S->M 0x701 0x04 0x03 0x92 0x4F 0x4B
Impulse 0x701 0x06 0x05 0x93 0x21 0x56 0xB9 0x40

MOVE POS 10 [mm]

Default positioning command.

  1. Send command for movement to position 10 [mm].
  2. Message ,,will reach position in 3.358 [s]''. Movement is started.
  3. After some time,,,in position 9.9969 [mm]''

ID DLC D-Len Cmd Data
M->S 0x501 0x06 0x05 0xB0 0x00 0x00 0x20 0x41
S->M 0x701 0x06 0x05 0xB0 0xEE 0xEE 0x56 0x40
Impulse 0x701 0x06 0x05 0x94 0xB6 0xF3 0x1F 0x41

GET STATE 1 [s]

Send every 1 [s] the actual position.

  1. Command Get State 1 [s] only position.
  2. Actual position and state. (position 1.011 [mm], moving, no error)
  3. Every second new message.
  4. Actual position and state. (position 5.054 [mm], moving, no error)

ID DLC D-Len Cmd Data
M->S 0x501 0x07 0x06 0x95 0x00 0x00 0x80 0x3F 0x01
S->M 0x701 0x08 0x07 0x95 0x36 0x89 0x81 0x3F 0x02 0x00
S->M 0x701 0x08 0x07 0x95 .. .. .. .. .. ..
S->M 0x701 0x08 0x05 0x94 0x76 0xBE 0xA1 0x40 0x02 0x00

Troubleshooting

An (,,ERROR MOTOR VOLTAGE LOW'') error occurred.

  1. Interpret and eliminate error. Power supply to motor switched off => switch on power supply.
  2. Acknowledge error with ,,CMD ACK''
  3. ,,CMD ACK'' confirmed
  4. Information message ,,No other errors'' displayed.

ID DLC D-Len Cmd Data
alle 15 [s] 0x301 0x03 0x02 0x88 0x74
M->S 0x501 0x02 0x01 0x8B
S->M 0x701 0x04 0x03 0x8B 0x4F 0x4B
Impulse 0x701 0x04 0x03 0x8A 0x08 0x00

CHECK MC PC COMMUNICATION (Float)

Check communication from module to control with test data.

  1. Request test data from module (floating point value -1.2345).
  2. Test data is sent by module.

ID D-Len Cmd Data
M->S 0x501 0x04 0x03 0xE4 0x01 0x01
S->M 0x701 0x08 0x07 0xE4 0x19 0x04 0x9E 0xBF 0x01 0x01

CHECK PC MC COMMUNICATION

Check communication from control to module with test data. Fragmentation is required.

Fragmentation is not mandatory for the operation and/or testing of the module.


  1. Send first fragment of test data to module.
  2. Send second fragment of test data to module.
  3. Send third fragment of test data to module.
  4. Send last fragment of test data to module.
  5. Module acknowledges receipt of test data and identifies the data that has been interpreted incorrectly (all data OK)

ID DLC D-Len Cmd Data
M->S 0x501 0x08 0x15 0x84 0xE5 0x19 0x04 0x9B 0xBF 0xA4
M->S 0x501 0x08 0x0F 0x85 0x70 0x3C 0x42 0x44 0x33 0x22
M->S 0x501 0x08 0x09 0x85 0x11 0xCC 0xDD 0xEE 0xFF 0x00
M->S 0x501 0x05 0x03 0x86 0x02 0xFE 0xAF
S->M 0x701 0x05 0xE4 0x4F 0x4B 0x00