Baumer R600V.DAH5 Manual de instrucciones - Página 21
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Exemplary Decoding of a CAN message frame
Exemplary decoding the "target distance" message (PGN 0xC000)
Based on a line from a CAN log (18100856, 18C0FF80, Rx, 08, 00, 64, 89, 71, 00, 00, EE,
7F)
Tab 10 Decoding a CAN SAE J1939 message frame
11 bit CAN ID
18 C0 FF 80
0x
[
1 1000 1100 0000 1111 1111 1000 0000]
(11+18bit = 29bit)
Tab 11 Example for decoding the CAN ID (29bit, PDU1 format)
8 bit PDU format (<240)
06
00
00
C0
0x
0x
0x
0x
[110]
[0]
[0]
[1100 0000]
2
2
2
Tab 12 Example for decoding the 8 byte data field
[0000
0000
0110 0100
Sensor-
Target con-
Target distance
status
fidence
(bit 1-2)
(bit 9-16)
[00]
64
0x
2
0
100%
Notes: little endian format, bit 1 underlined; colours indicate correspondences
R600V.DAH5_manual_1.5 (EN).docm
Last Update: 03 Jul 20
18 bit CAN ID
2
2
PDU1 format
PGN (parameter group number)
00
64
89 71 00
0x
1000 1001 0111 0001 0000 0000
(bit 17-40)
(bit 41-48)
00 71 89
0x
0x
' 2
906
5 .
mm
Manual R600V.DAH5 (EN)
0...8 byte
data field
8C AB 27
0x
0C 34 0C 00
00
8 bit PDU specific
(group extension)
FF
0x
[1111 1111]
2
Global destination address
00
EE 7F
0000 0000
1110 1110 0111
N/A
Target speed
(bit 49-64)
00
N/A
-18 mm/sec
8 bit source
address
80
0x
[1000 0000]
2
1111]
2
7F EE
0x
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