Example Of Read; Write - Mantracourt DCell User Manual

CAN ID
ID + 1
11 or 29 bit
The reason for a NAK response would be if the command number does not exist in the device.

Example of Read

The following example is to read SYS from an ID of 100.
Message from Master
CAN ID
Base ID
0x64
100
Successful Response From Slave. The value returned is 123.456
CAN ID
Base ID + 1
0x65
101
Not Acknowledged Response From Slave. For example if the device did not support command number 10
CAN ID
Base ID + 1
0x65
101

Write

To write a parameter send message to appropriate ID with a Write descriptor and IEEE floating point data.
Message From Master
CAN ID
Base ID
11 or 29 bit
Then wait a timeout period for a message of the same ID marked as either Response or NAK descriptor. If a response descriptor is returned then
this acknowledges receipt but does not contain data.
Successful Response From Slave.
CAN ID
Base ID + 1
11 or 29 bit
Not Acknowledged Response From Slave.
CAN ID
Base ID + 1
11 or 29 bit
Mantracourt Electronics Limited DCell & DSC MantraCAN User Manual
CAN Data
Descriptor
NAK
CAN Data
Descriptor
0x1
1
Descriptor
0x6
6
CAN Data
Descriptor
0x15
21
Descriptor
Write
CAN Data
Descriptor
Response
CAN Data
Descriptor
NAK
Command Number
1 Byte
Command Number
0xA
10
CAN Data
Command Number
0xA
10
Command Number
0xA
10
CAN Data
Command Index
1 Byte
Command Index
1 Byte
Command Index
1 Byte
Hexadecimal
Decimal
Data
0x3F, 0x80, 0x00, x00
63, 128, 0, 0
Hexadecimal
Decimal
Data
4 Bytes
Hexadecimal
Decimal
50