MoTeC SDC3 - Manual (Page 23)

MoTeC SDC3 21 Appendices
Appendix F – CAN Messages
SDC3 operational data messages are each transmitted at 50Hz.
SDC3 diagnostic messages are each transmitted at 25Hz.
50Hz Messages
CAN ID 0x1F4
Byte Bits Data
0 Compound Id = 0
1 Diff Current Average (0.1A resolution)
2
3
Ground Speed (0.1 km/h resolution)
4
5 Front Wheels Speed (0.1 km/h resolution)
6
7 Rear Wheels Speed (0.1 km/h resolution)
CAN ID 0x1F4
Byte Bits Data
0 Compound Id = 1
1 Diff Current Minimum (0.1A resolution)
2
3
Yaw rate (0.1 deg/sec resolution)
4
5 Lateral G (0.001G resolution)
6
7 Longitudinal G (0.001G resolution)
CAN ID 0x1F4
Byte Bits Data
0 Compound Id = 2
1 Diff Current Maximum (0.1A resolution)
2
3
Percentage Slip Diff Lock (0.1% resolution)
4
5 Percentage Diff Lock (0.1% resolution)
6
7 Steering Angle (1deg Resolution)
0deg = centre, +deg = anticlockwise, -deg = clockwise
CAN ID 0x1F4
Byte Bits Data
0 Compound Id = 3
1 Diff+ Voltage (0.1V resolution)
2
3
Fault Flags (See Appendix A – Fault Codes)
4 Diagnostic Flags (See Appendix A – Fault Codes)
0 Front Left Speed Sensor Fault (0 = OK, 1 = Fault)
1 Front Right Speed Sensor Fault (0 = OK, 1 = Fault)
2 Rear Left Speed Sensor Fault (0 = OK, 1 = Fault)
3 Rear Right Speed Sensor Fault (0 = OK, 1 = Fault)
4 Foot brake Status (0 = Off, 1 = On)
5 Hand brake Status (0 = Off, 1 = On)
6 Diff Temperature Status (0 = OK, 1 = Diff Temperature High)
5
7 ABS Active Status (0 = Not Active, 1 = Active)
6 0
7 SDC3 User Selected Mode
0 = Diff open
1 to 4 = SDC3 user modes
5 = Diff locked