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CAHB -20 s eries
7.0 CAN bus SAE J1939 protocol
(S design only)
7.1 Transmission rate
Baud rate: 250 Kbps
Baud rate: 500 Kbps
7.2 CAN-ID
Default CAN-ID
Feedback CAN-ID: 0CFF0101 (PGN=FF01, PRIO=3)
Control CAN-ID:
04EF0101 (PGN=EF01, PRIO=1)
DP=EDP=0
7.2.1 CAN-ID distribution
Once 2 or more actuators linked on the same CAN bus, the
CAN-ID conflict will happen, the actuator will au-tomatically
statement CAN-ID like:
Feedback CAN-ID 0CFF0101, 0CFF0102, 0CFF0103...
Control CAN-ID
04EF0101, 04EF0102, 04EF0103...
7.2.2 CAN-ID in synchronous mode
In one CAN bus loop, there is allowed only one group of ac-
tuators in synchronous mode. And it’s CAN-ID is:
Feedback CAN-ID: 0CFF0101 (PGN=FF01, PRIO=3)
Control CAN-ID:
04EF0101 (PGN=EF01, PRIO=1)
NOTE
If two or more groups of actuators in synchronous mode are linked
in one CAN bus loop, the actuator CAN-ID conflict occurs. The
actuators will not work.
NOTE
It is allowed that one group of actuators in synchronous mode and
several independent actuators are linked in one CAN bus loop.
NOTE
The actuator in synchronous mode will not move unless all of them
are linked.
