Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
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Chapter 7 – CAN Bus Communication (HG G
-
19370ZB/HG G-19380ZB)
7
CAN Bus Communication
(HG G
-
19370ZB/HG G-19380ZB)
The CAN bus communication is coordinated by the vehicle control. The vehicle con
-
trol sends commands with specific CAN IDs and receives the reply telegrams of the
addressed devices on the bus. The inductive guidance sensor sends its status, the
sum and difference values for the 6 frequencies and the incremental encoder values.
7.1 Telegrams
The devices expect a telegram on CAN ID 0x200+ NodeID and reply accordingly on
CAN-ID 0x180+ NodeID. With the control word (see below) the output of the sum
and difference signals can be de-/activated for each frequency (aka track).
Bytes listed with a 0 as the last position of the description stand for LowByte. The
byte with the highest number for the same value is the HighByte.
Control, Status, Enc and Speed are explained in the tables for IN and OUT1
below. Enc is the counter reading for the incremental encoder as a 16 bit inte
-
ger value (going from 0 to 65,535, then it re-starts with 0). For speed every 10
ms the difference between the previous and the actual encoder counter reading
is calculated.
The telegrams OUT2 to OUT 4 have a uniform structure. They transmit the sum
and difference values in mV for two frequencies each. The sum voltage is an
unsigned 16 bit integer value. The difference voltage is a signed 16 bit integer
value. The values are from the range as shown in Figure 2 on page 9.
Table 11
CAN telegrams
IO
CAN-ID Byte 0
Byte 1
Byte 2 Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
IN
0x200 +
Node-ID
Control_0 Control_1
OUT1 0x180 +
Node-ID
Status_0 Status_1 Status_2 Status_3 Enc_0
Enc_1
Speed_0 Speed_1
OUT2 0x280 +
Node-ID
S1_Sum0 S1_Sum1 S1_Dif0 S1_Dif1 S2_Sum0 S2_Sum1 S2_Dif0 S2_Dif1
OUT3 0x380 +
Node-ID
S3_Sum0 S3_Sum1 S3_Dif0 S3_Dif1 S4_Sum0 S4_Sum1 S4_Dif0 S4_Dif1
OUT4 0x480 +
Node-ID
S5_Sum0 S5_Sum1 S5_Dif0 S5_Dif1 S6_Sum0 S6_Sum1 S6_Dif0 S6_Dif1
