TriContinent C24000, Product Manual

Page: 116 / 144

CAN interface communications
Reference information
116
enables faster processing of commands. Pumps respond to the frame
types as follows:
Type 0
:
On-the-Fly commands ([V] and [T]). Frame bits = 000
Normal commands use a frame type of 1 (i.e., action commands). Since
commands sent over the CAN bus with a particular frame type must
complete before a subsequent command using the same frame type can
be issued, a different ID must be used when issuing an “on-the-fly” com-
mand. For this reason, on-the-fly commands must be issued with a
frame type of 0 (zero).
Commands issued with frame type 0 do not generate completion mes-
sages, and thus no pairing code is needed (these commands are simply
acknowledged immediately).
Type 1: Action commands. Frame bits = 001
This frame type is used for action commands such as initialization com-
mands [Z], movement commands ([A],[D],[P]), or for setting pump
operating parameters. All task-type commands are sent in this type of
message frame. When multi-frame messages are used to send an action
command, this frame is the end message sent to the pump.
Type 2: Common commands. Frame bits = 010
This frame type is used for commands that are common to every device
on the bus. The command is a single ASCII character in the data block.
The ASCII command characters with hexadecimal equivalents are
described below.
Type 3: Multi-frame start message. Frame bits = 011
This frame type lets the pump know that the next message will be longer
than the 8-byte maximum for each frame. Subsequent frames will follow
to complete the message. The frame will contain 8 bytes of data.
Type 4: Multi-frame data. Frame bits = 100
This frame type is used to identify a frame that is within a multi-frame
message. It will contain 8 bytes.
Note:
• The last frame of a multi-frame message for action commands must be
type 1. The last frame of a multi-frame message response from the pump
for report commands must be type 6.
Command
Description
0 (0x30 in hex) Reset mode. This resets the pump and begins
the boot request procedure.
1 (0x31 in hex) Start loaded command. Just like sending a run
[R] command after a string has been loaded.
2 (0x32 in hex) Clear loaded command. This clears out the com-
mand buffer.
3 (0x33 in hex) Repeat last command. This command does the
same thing as the arbitration field command
(execute last command in string).
4 (0x34 in hex) Stop action immediately. This acts like the termi-
nate [T] command.