Appendix B
18
Messages
CAN2.0A and CanOpen
On CanOpen networks the results need to be transmitted as ``process data objects’’
(PDOs) from the ``predefined connection set’’. In order to do this, ensure that the
set base address is equal to (0x180 + node number). For example, 0x182 to make
the ICM node address 2.
CAN-bus Message List
The message ID numbers shown are examples only and are dependent on the set
base address.
For CAN2.0A/CanOpen we have an example base address of 0x182. So you see
``2’’ as the last digit of all the message IDs. CanOpen interprets this as the device
node number.
For CAN2.0B/J1939 we have an example base address of 0x18FFB53F. The equiv-
alent node number is ``3F’’ so you see this appear in all the message IDs.
For other node numbers change the set base address value as required. CanOpen
has node numbers from 0x01 to 0x7f. J1939 has node numbers from 0x01 to 0xff.
Parameter Name
CAN2.0A ID
CanOpen PDO
CAN2.0B ID
J1939 PGN
Result Codes
0x182
Transmit PDO 1
0x18FFB53F
0xFFB5
Status
0x282
Transmit PDO 2
0x18FFB63F
0xFFB6
Water Sensor
0x382
Transmit PDO 3
0x18FFB73F
0xFFB7
Commands
0x202
Receive PDO 1
0x18EF3F00
PDU1
Table II
CAN-bus Messages
