Baumer 11209335 Manual - Página 25
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Exemplary Decoding of a CAN message frame
Exemplary decoding the "object" message (PGN 0xC000)
Based on a line from a CAN log (18100856, 18C0FF80, Rx, A0 20 02 AC 78 C3 7D 7F
Tab 14 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 15 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 16 Example for decoding the 8 byte data field
[1010
0000
0010 0000
Multi-
Sensor
Object
plexor
status
status 2n
(bit 1-2)
(bit 3-4)
(bit 5)
[00]
[00]
[0]
2
2
2
n=0
0
0
Notes: little endian format, bit 1 underlined; colours indicate correspondences
R600V.DAH5_multiobject_manual_1.1 (EN).docm
Last Update: 01 Jan 2021
18 bit CAN ID
2
2
PDU1 format
PGN (parameter group number)
0x A0 20 02 AC 78 C3
0000
0010
1010 1100
0111
Object
Object 2n
Object 2n+1
status
distance
distance
2n+1
(bit 7-20)
(bit 21-34)
(bit 6)
[1]
0x
08 82
0x
0A C0
2
1
2'178mm
2'752
mm
Manual R600V.DAH5 Multi-object (EN)
0...8 byte
data field
A0 20 02
0x
AC 78 C3
7D 7F
8 bit PDU specific
(group extension)
FF
0x
[1111 1111]
2
Global destination address
7D
7F
1000
1100
0011
0111 1101
0111
Object 2n
Object 2n+1
Object 2n
confidence
confidence
speed
(bit 35-41)
(bit 42-48)
(bit 49-56)
0x
5E
0x
61
0x
94 %
97 %
-0.094m/s
8 bit source
address
80
0x
[1000 0000]
2
1111]
2
Object 2n+1
speed
(bit 57-64)
7D
0x
7F
-0.031m/s
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