Status Messages – Broadcast (continued)
Message type 0x81 – Rotation Limits
This message is issued periodically (100ms) to allow the 6036xxxx Direction Indicator to display programmed soft limits or
oscillation limits.
Header (29 bits) 2 22 11 00 0
8.........43......65......87......0
110001110111111111111 [ A ]
3 bits, Priority 6 (110)
2 bits, 00
8 bits, 0xEF
8 bits, Target (0xFF - Broadcast)
[A] = 8 bits, Source (AB node address
Data length – 6 bytes
Data byte 0 1 2 3 4 5
bit 7...... 07.....07......07.....07.....07......0
10000001 [ A ] [ B ] [ C ]
8 bits, Message type 0x81
[A] 16 bits, Rotation Left limit in 0.1° (signed binary MSB...LSB)
[B] 16 bits, Rotation Right limit in 0.1° (signed binary MSB...LSB)
[C] 8 bits, Flags (bit map)
0x80 – Oscillation active 1.......
(currently unused) .1111111
Example – 18EFFF80 [6] 81 FE D4 01 C2 80
This message indicates the status of the unit at CAN node address ‘0x80’:
Oscillation Left limit is - 30.0° ( + right of 0°, - left of 0° )
[ Rotation Left limit = 0xFED4 | -300 ]
Oscillation Right limit is +45.0° ( + right of 0°, - left of 0° )
[ Rotation Right limit = 0x01C2 | +450 ]
Unit is oscillating
[ Flags = 0x80 ]
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