46 Appendices
CAN Output Messages
The PDM transmits the following messages at 20 Hz.
Note: only relevant messages get transmitted for a particular PDM type
CAN Address Byte Bit Channel Scaling
Base address
+ 0
0 4..7 Compound Id = 0
0 0 Input 1 State
0 = Inactive
1 = Active
1 0 Input 2 State
2 0 Input 3 State
3 0 Input 4 State
4 0 Input 5 State
5 0 Input 6 State
6 0 Input 7 State
7 0 Input 8 State
Base address
+ 0
0 4..7 Compound Id = 1
0 0 Input 9 State
0 = Inactive
1 = Active
1 0 Input 10 State
2 0 Input 11 State
3 0 Input 12 State
4 0 Input 13 State
5 0 Input 14 State
6 0 Input 15 State
7 0 Input 16 State
Base address
+ 0
0 4..7 Compound Id = 2
0 0 Input 17 State
0 = Inactive
1 = Active
1 0 Input 18 State
2 0 Input 19 State
3 0 Input 20 State
4 0 Input 21 State
5 0 Input 22 State
6 0 Input 23 State
Base address
+ 0
0 4..7 Compound Id = 3
1 0..7
PDM Internal
Temperature
0 to 125 = 0 °C to +125 °C
1 °C steps
2 0..7
PDM Battery
Voltage
0 to 255 = 0 V to 31 V
0.1216 V steps
3 0..7 Global Error Flag
0 = OK
1 = one or more outputs is in
either Fault or Over-Current error
4 0..7 Total Current
0 to 255 = 0 to 255 A
1 A steps
5 0..7
9.5V internal rail
voltage
0 to 255 = 0 V to 15.68 V
0.0615 V steps
Should read close to 9.5 V when
the Battery voltage is > 10.5 V
6 0..7 Reset Source
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