Example Of Write; Execute A Command; Example Of Execute A Command - Mantracourt DCell User Manual

Example of Write

The following example is to write ID 100 the value –100.0 to SZ.
Message from Master
CAN ID
Base ID + 1
0x64
100
Successful Response From Slave.
CAN ID
Base ID
0x65
101
Not Acknowledged Response From Slave. For example if the data was out of range
CAN ID
Base ID + 1
0x65
101

Execute A Command

To execute command send message to appropriate ID with a Write descriptor and no 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 then this acknowledges receipt and 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

Example Of Execute A Command

The following example is to execute RST command to ID 100.
Message from Master
CAN ID
Base ID
0x64
100
Successful Response From Slave.
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Descriptor
0x2
2
CAN Data
Descriptor
0x6
6
CAN Data
Descriptor
0x15
21
CAN Data
Descriptor
Write
CAN Data
Descriptor
Response
CAN Data
Descriptor
NAK
CAN Data
Descriptor
0x2
2
CAN Data
Command Number
0x16
22
Command Number
0x16
22
Command Number
0xA
10
Command Index
1 Byte
Command Index
1 Byte
Command Index
1 Byte
Command Number
0x64
100
Data
0xC2, 0xC8, 0x00, x00
194, 200, 0, 0
Hexadecimal
Decimal
Hexadecimal
Decimal
Hexadecimal
Decimal
Hexadecimal
Decimal