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Status Messages – Broadcast (continued)
Message type 0x01 – Position / Limit Status
This message is issued periodically (100ms) indicating axis positions, travel limit status, et.al. It is used by the 6036xxxx Direction
Indicator to obtain rotstion and elevation positions for display.
Header (29 bits) 2 22
11 00 0
8....... 43........
65.....87........0
110001110111111111111 [ A ]
3 bits, Priority 6 (110)
2 bits, 00
8 bits, 0xEF
8 bits, Target
(0xFF - Broadcast)
[A] = 8 bits, Source (AB node address)
Data length – 8 bytes
Data byte 0 1 2 3 4 5 6 7
bit 7.........07......07......07.....07...... 07...... 07......07........0
00000001 [ A ]BBCC [ D ]EEFFGGHHJJKKLLMMNNPPQQRRSSTT
8 bits, Message type 0x01
[A] 12 bits, Rotation position in 0.1°
(unsigned binary MSB...LSB)
[B] 2 bits, Rotation Right status
(00 Off, 01 On, 10 Error, 11 N/A)
[C] 2 bits, Rotation Left status
(00 Off, 01 On, 10 Error, 11 N/A)
[D] 12 bits, Elevation position in 0.1°
(unsigned binary MSB...LSB)
[E] 2 bits, Elevation Up status
(00 Off, 01 On, 10 Error, 11 N/A)
[F] 2 bits, Elevation Down status
(00 Off, 01 On, 10 Error, 11 N/A)
[G] 2 bits, Rotation Right hard stop (00 Off, 01 On, 10 Error, 11 N/A)
[H] 2 bits, Rotation Left hard stop
(00 Off, 01 On, 10 Error, 11 N/A)
[J] 2 bits, Elevation Up hard stop
(00 Off, 01 On, 10 Error, 11 N/A)
[K] 2 bits, Elevation Down hard stop (00 Off, 01 On, 10 Error, 11 N/A)
[L] 2 bits, Pattern Stream hard stop (00 Off, 01 On, 10 Error, 11 N/A)
[M] 2 bits, Pattern Fog hard stop
(00 Off, 01 On, 10 Error, 11 N/A)
[N] 2 bits, Axis 4 Positive hard stop
(00 Off, 01 On, 10 Error, 11 N/A)
[P] 2 bits, Axis 4 Negative hard stop (00 Off, 01 On, 10 Error, 11 N/A)
[Q] 2 bits, Axis 5 Positive hard stop
(00 Off, 01 On, 10 Error, 11 N/A)
[R] 2 bits, Axis 5 Negative hard stop
(00 Off, 01 On, 10 Error, 11 N/A)
[S] 2 bits, ( currently unused )
(00 Off, 01 On, 10 Error, 11 N/A)
[T] 2 bits, Calibrated status
(00 Off, 01 On, 10 Error, 11 N/A)
Example – 18EFFF80 [8] 01 1D 94 03 71 00 00 41
This message indicates the status of the unit at CAN node address ‘0x80’:
Rotation position is +47.3° ( + right of 0°, - left of 0° )
[ Rotation position= 0x1D9
| 473 ]
[ Rotate Right status= 01 ]
Elevation position is -5.5°
( + above 0°, - below 0° )
[ Elevation position= 0x037
| 55 ]
[ Elevation Down status= 01 ]
Discharge valve is on / open
[ Axis 5 Positive hard stop = 01 ]
Unit has been calibrated
[ Calibration status = 01 ]
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