Basic interface

The CAN bus interface runs at 500kHz.

Command Messages are sent to CID 0x3F0, 0x660, 0x4EA.

The Actuator sends Messages on CID 0x3E8, 0x3E9, 0x3EA, 0x3EB, 0x4EB

Command Messages

Command messages are sent to CID 0x3F0 or 0x660 and always contain 8 bytes. Smaller messages are ignored!

Message (Hexadecimals)	Description	Comment
31 A0 A1 00 00 00 00 00	Set 1st Memory target	Address is 0xA0A1; used inconjunction with command 57
32 A0 A1 00 00 00 00 00	Set 2nd Memory target	Address is 0xA0A1; used inconjunction with command 57
33 A0 A1 00 00 00 00 00	Set 3rd Memory target	Address is 0xA0A1; used inconjunction with command 57
43 nn A0 A1 B0 B1 C0 C1	Set Memory targets	Load complete set of 3 memory targets at index nn; used inconjunction with command 57; nn==0 is the same as 0x31,0x32,0x33; nn<5
44 00 00 00 00 00 00 00	Seems to be a NOP?
4E 00 00 00 00 00 00 00	Seems to be a NOP?
49 00 00 00 00 00 00 00	Probably a keepalive	If not received by the actuator, no status is sent.
57 aa 00 dd 00 00 00 00	Write data dd to aath Memory target	0 ≤aa ≤14
57 aa 01 dd 00 00 00 00	OR data dd to aath Memory target
57 aa 02 dd 00 00 00 00	AND data dd to aath Memory target
77 A0 A1 dd B0 B1 cc 00	Write data dd to 0xA0A1 and cc to 0xB0B1 (00:00) is ignored

Command messages sent to CID 0x4EA are for steering position of actuator

Message (Hexadecimals)	Description	Comment
aa bb 00 00 00 00 00 00	aa rough position bb precise position	adress 0x4EA