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4.3
Command and status feedback
All control applications (CA) in the bus system can use the motion commands and parameters in the following table
that comply with the J1939 communication protocol to control MK35 actuators or receive status feedback through
the two signal lines of the CAN network system.
4.3.1
Proprietary A
All control application (CA) in the same network can send actions or setting command to MK35 through
Proprietary A. The parameters of all control parameters can be adjusted by Proprietary A. The requirements are as
follows:
(1) Transmission rate: 250 kbps
(2) Recommended data repetition rate: 100~250ms
(3) Protocol Data Unit (PDU):
●
Priority: Default value 6
●
Parameter Group Number (PGN): 61184 (0x00EF00)
*
PS can be the default address (16) of MK35, or the hardware address (17~31) set
by the user (Section 4.2.2). Or it can be set to FF (255) as the broadcast mode.
●
Source address (SA): The unique address of the J1939 controller application (i.e. ECU) that sends
this Proprietary A command.
●
Data Field: 8 Bytes (64 bits) are divided into 5 parameters as following definition.
• Run forward (extend the actuator)
• Run backward (retract the actuator)
• Run to position
• Stop
• Position
• Current limit
• Run speed (PWM%)
• Soft start (ramp up time)
• Soft stop (ramp down time)
• Action status
• Present stroke position
• Present electric current
• Run speed (PWM%)
• Soft start/stop (ramp time)
• Error code
EDP
0
DP
0
PF
239
PS
(address)
*
8 bits
Action
16 bits
Position
8 bits
Current
8 bits
Run speed
or
Set ramp
24 bits
Reserved
3 bits
Priority
1 bit
EDP
1 bit
DP
8 bits
PF
8 bits
PS
8 bits
SA
64 bits
Data
PGN
Feedback
Motion parameters
Motion commands
Please contact Moteck sales for information.