MoTeC MDC - Manual (Page 21)

MoTeC MDC 19 Appendices
Appendix E – CAN Messages
The MDC communicates on a User CAN bus running at 1Mbit/s.
MDC operational data messages are each transmitted at 50Hz.
MDC diagnostic messages are each transmitted at 25Hz.
50Hz Messages
CAN ID 0x1F4
Byte
Bits Data
4..7 Compound Id = 0 0
0..4
1 MDC Mode
0 = Diff open
1 to 4 = MDC user modes
5 = Constant diff lock
2 Foot brake Status (0 = Off, 1 = On)
3 Hand brake Status (0 = Off, 1 = On)
4
5 Throttle Position (0.1% resolution)
6
7 Ground Speed (0.1 km/h resolution)
CAN ID 0x1F4
Byte
Bits Data
4..7 Compound Id = 1 0
0..4
1 Percentage Diff Lock (0.5% resolution)
2
3 Longitudinal G (0.001G resolution)
4
5 Lateral G (0.001G resolution)
6
7 Reserved
CAN ID 0x1F4
Byte
Bits Data
4..7 Compound Id = 2 0
0..4
1 Slip Control Percentage Diff Lock (0.5% resolution)
2 Diff Current Average (0.01A resolution)
3 Diff Current Minimum (0.01A resolution)
4 Diff Current Maximum (0.01A resolution)
5 Diff+ Voltage (0.1V resolution)
6
7
ECU Efficiency Point received from ECU (0.1% resolution)
CAN ID 0x1F4
Byte
Bits Data
4..7 Compound Id = 3 0
0..4
1
Desired slip (0.1 km/h resolution)
2
3 Hydraulic Pressure (0.1kPa resolution)
4 Mode switch status (0 = Not Active, 1 = Active)
5 Reserved
6
7 Steering Angle (1deg Resolution)
0deg = centre, +deg = clockwise, -deg = anticlockwise