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L-3113 (10-15-22)
GENERAL COMMANDS
PROPRIETARILY CONFIGURABLE MESSAGE (PCM) 1
*The duty cycle is represented by a two’s complement signed integer. Values of 0x01 – 0x64 correspond to 1% – 100% duty cycle in the
normal direction. Values of 0xFF – 0x9C correspond to 1% – 100% duty cycle in the reverse direction. A value of 0 is treated the same
as 0x64, and any value representing greater than 100% duty cycle behaves the same as 100% in the direction indicated by the sign.
**The diagnostic response uses the same PGN as the request. Byte 0 of the response contains the states of the 8 optical sensors,
byte 1 contains the states of the 4 motors and the 2 address lines, and byte 2 contains the input voltage multiplied by 10.
VALVE CONTROL
PCM 4 through 12 are used to set the positions of the valves on 16 Nozzle Bodies at a time and request a status response from one
Nozzle Body. PCM 4 corresponds to the Nozzle Bodies at addresses 150 – 165, PCM 6 corresponds to addresses 166 – 181, and so on. All
devices in the PCM’s range will receive and process the message, and the addressed device will respond with the next PCM (i.e. PCM5
will be sent in response to PCM4). The addressed device must belong to the range corresponding to the PCM.
Transmission Repetition Rate: No faster than 10ms
Data length: 8 bytes
Data page: 0
Protocol Data Unit (PDU) format: 177
PDU specific: Global (255 – required for commands 2, 3) or destination address (DA)
Priority: 0
Parameter Group Number (PGN): 45312 (00B100
h
)
Byte 0: Command
Byte 1 – 7: Arguments
COMMAND
ARGUMENTS
0: Reset unit
None
1: Go to bootloader (details by req.)
None
2: Put into mapping mode
Byte 1: Starting address
3: Clear error condition
None
4: Set motor direction and duty cycle
Byte 1: Signed duty cycle*
5: Request diagnostics
None**
6: 254: Reserved for future use.
255: Write serial number (one time)
Bytes 1 – 3: 21 bit serial (byte 1 low)
