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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 |
|