tecan cavro xlp 6000 Operating Manual page 48

3 - Software Communication
Communication Protocols
3 - 16
Example 2. The pump is set to address 6
Pump sends:
Dir Group Device
1 001 0110
Host acknowledges:
Dir Group Device
0 001 0000
Host acknowledges the boot request with:
Dir = 0 Host to slave
Group = 1 Boot request response group
Device = 0 Always 0 in boot response
Frame = 0 Boot request response frame
RTR = 0 Always 0
Length = 2 Two data bytes in return message
Node ID Group ID (2) +
Pump Address (6)
Slave ID Same as Node ID
(hex 26)
The pump will save the Node ID to use for message filter Group ID.
Note: The slave ID does not have to be the same as the node ID. The pump can
be assigned any number between 0 and 0x7F (127) for the slave ID.
CAN Host and Pump Exchanges
When a slave pump receives a command, finishes a command, encounters an
error condition, or responds to a query, it sends an answer frame to the host using
the same frame type as the command it belongs to. The answer frame format is
device dependent. Generally, it will have the following format:
<MID><DLC><Answer>
<MID>
11-bit message identifier. The direction bit is 1. The group number and the
frame type are the same as received. Device ID is the slave message ID
assigned by the host.
Cavro® XLP 6000 Modular Syringe Pump Operating Manual, 734237-C, en
Frame RTR Length
010 0 0000
Frame RTR Length
000 0 0010
"&" Hex
Hex
Node ID Slave ID
0010 0110 0010 0110
Note:
Boot MID is the same for
all nodes
26
26