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AN07-00180-3E
“ Table 5-4 CAN message IDs in the sample program ” provides a description of the message IDs used for
CAN communication.
Table 5-4 CAN message IDs in the sample program
ID
0x101
0x102
0x103
0x201
0x202
Description
Motor operation start/stop command
Motor operation rotation speed/Rotation
direction/Brake command
Temperature sensor measurement command
Motor rotation information
Temperature sensor information
Communication
direction
receive
receive
receive
transmit
transmit
Details of the IDs are as shown below.
1.
ID: 0x101
byte 0
byte 1
byte 2
byte 3
byte 4
byte 5
byte 6
byte 7
Motor operation
rotation
Motor command direction
Motor rotation speed
A/D maximum value
Reserved
Reserved
2.
Field name
Motor operation
command
Motor rotation
direction
Motor rotation speed
A/D maximum value
ID: 0x102
Setting value
0: Stop 1: Start
0: Clockwise 1:
Counterclockwise
0 to 65535
0 to 65535
Remarks
-
-
The motor rotation speed and A/D maximum
value are used for conversion of the speed to a
percentage of 0% to 100%.
byte 0
byte 1
byte 2
byte 3
byte 4
byte 5
byte 6
byte 7
Motor rotation direction
Brake application
Motor rotation speed
A/D maximum value
Reserved
Reserved
- 96 -
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