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CAN Stream Information

The tables below describe how the data in CAN streams on the PDM are transmitted and received on the Link Razor PDM. This information is useful when interacting with a device that does not have built in Link Razor PDM functionality.

The structure used is based on the CAN Channel Mode. All data is sent/received with the most significant byte first.

CAN Function

Byte 0 (Unsigned)

Byte 1 (Unsigned)

Byte 2 & 3 (Unsigned)

Byte 4 & 5 (Unsigned x100)

Byte 6 & 7

Compound ID

Status

Frequency (Hz)

Duty Cycle (%)

Unused

IO Status

Frame Number

Byte 0 (Unsigned)

Byte 1 (Unsigned)

Byte 2 (Unsigned)

Byte 3 (Unsigned)

Byte 4 & 5 (x100)

Byte 6 & 7 (Signed x100)

Frame 1

0

HP Output 1 Status

HP Output 1 Frequency (Hz)

HP Output 1 Duty Cycle (%) (Signed)

HP Output 1 Current (A)

Frame 2

1

HP Output 2 Status

HP Output 2 Frequency (Hz)

HP Output 2 Duty Cycle (%) (Signed)

HP Output 2 Current (A)

Frame 3

2

HP Output 3 Status

HP Output 3 Frequency (Hz)

HP Output 3 Duty Cycle (%) (Signed)

HP Output 3 Current (A)

Frame 4

3

HP Output 4 Status

HP Output 4 Frequency (Hz)

HP Output 4 Duty Cycle (%) (Signed)

HP Output 4 Current (A)

Frame 5

4

ADIO 1 Status

ADIO 1 Frequency (Hz)

ADIO 1 Duty Cycle (%) (Unsigned)

ADIO 1 Voltage (V)

Frame 6

5

ADIO 2 Status

ADIO 2 Frequency (Hz)

ADIO 2 Duty Cycle (%) (Unsigned)

ADIO 2 Voltage (V)

Frame 7

6

ADIO 3 Status

ADIO 3 Frequency (Hz)

ADIO 3 Duty Cycle (%) (Unsigned)

ADIO 3 Voltage (V)

Frame 8

7

ADIO 4 Status

ADIO 4 Frequency (Hz)

ADIO 4 Duty Cycle (%) (Unsigned)

ADIO 4 Voltage (V)

Frame 9

8

ADIO 5 Status

ADIO 5 Frequency (Hz)

ADIO 5 Duty Cycle (%) (Unsigned)

ADIO 5 Voltage (V)

Frame 10

9

ADIO 6 Status

ADIO 6 Frequency (Hz)

ADIO 6 Duty Cycle (%) (Unsigned)

ADIO 6 Voltage (V)

Frame 11

10

ADIO 7 Status

ADIO 7 Frequency (Hz)

ADIO 7 Duty Cycle (%) (Unsigned)

ADIO 7 Voltage (V)

Frame 12

11

ADIO 8 Status

ADIO 8 Frequency (Hz)

ADIO 8 Duty Cycle (%) (Unsigned)

ADIO 8 Voltage (V)

Frame 13

50

PDM Temperature (+50)

PDM Voltage (x10)

Unused

Unused

Unused

Keypad Counts

Frame Number

Byte 0 (Unsigned)

Byte 1 (Unsigned)

Byte 2 (Unsigned)

Byte 3 (Unsigned)

Byte 4 (Unsigned)

Byte 5 (Unsigned)

Byte 6 (Unsigned)

Byte 7

Frame 1

0

Keypad Function 1 Count

Keypad Function 2 Count

Keypad Function 3 Count

Keypad Function 4 Count

Keypad Function 5 Count

Unused

 

Frame 2

1

Keypad Function 6 Count

Keypad Function 7 Count

Keypad Function 8 Count

Keypad Function 9 Count

Keypad Function 10 Count

Unused

 

Frame 3

2

Keypad Function 11 Count

Keypad Function 12 Count

Keypad Function 13 Count

Keypad Function 14 Count

Keypad Function 15 Count

Keypad Function 16 Count

 

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