Message Name Message Name Default Value

SystemState Debe Mandar (Estado, Locked Flag, Ghost Flag)

dato[0]=bit 7 Ghost flag, bit 6 Locked Flag, bit 5 Flow sensor, bit4..bit0Estado: 0=SEEK_HOME, 1=HOME, 2=CLEAN_POSIT
home AZ,bit1 busy EL, bit 0 home EL; data[2]=Vout; data[3]=Iout; data[4]=Iin; data[5]

Locked Flag Manual Lock/Unlock of System Locked=On

Ghost Flag Ghost Flag of System Ghost = Off
PSD Enable Enable/Disable PSD Control Enabled
DCVoltageIn Input voltage in the DC-DC converter
DCCurrentIn Input current in the DC-DC converter
DCCurrentOut Output current generated by the DC-DC converter
SWVersion System firmware version 0
SerialNumber System serial number 0
Timeout to wait for host to come back on-line before moving to
TimeoutGhost 2
ghost tracking
Timeout to wait for host to come back on-line before going to
TimeoutPark 30
park (this is additive to TimeoutGhost)

Longitude Longitude of system installation 0

dato 0= signo (1 si -; 0 si +) dato 1…3= lon

Latitude Latitude of system installation 0

dato 0= signo (1 si -; 0 si +) dato 1…3= lati

Elevation Elevation above sea level for the system 0
MotorStepsAZ Steps per motor revolution on azimuth axis 200
MotorStepsEL Steps per motor revolution on elevation axis 200
GearRatioAZ Gearbox ration on the azimuth axis 320
GearRatioEL Gearbox ration on the elevation axis 400

DirectionAZ Direction of motor rotation for the azimuth axis (0=CW, 1-CCW) 0

DirectionEL Direction of motor rotation for the elevation axis (0=CW, 1-CCW) 0

SunriseAngle Elevation position when system becomes available for tracking 90

GhostOffset Sets the elevation axis offset to be used while ghost tracking 10

CleanPos Set the absolute elevation axis during the cleaning operation 90

Set the minimum amount of tracking correction to be executed.

MinTrackCorr This avoid unnecessarily small and overly frequent turning on of 0.05
the stepper motor H-bridges

OffsetAZ Commissioning offset on azimuth axis 0

dato 0= signo (1 si -; 0 si +) dat

OffsetEL Commissioning offset on elevation axis 0

 dato 0= signo (1 si -; 0 si +) dat
Correction factor to calculate the amount of X-axis correction to
PSDCorrFactorX 0.1
bring the PSD back to centre
El dato va m
Correction factor to calculate the amount of Y-axis correction to
PSDCorrFactorY 0.1
bring the PSD back to centre
El dato va m

Absolute value of maximum deviation for PSD X-axis before

PSDLimit 6
correction occurs

PSDLock Lock window for PSD X-axis 2

PSDRelockDelay Amount of time to remain within PSD lock window 10

Minimum PSD signal strength above which PSD-based
PSDMinSignal 220
corrections are made
RXPVector[1] Manually input P-Vector value 1 0
RXPVector[2] Manually input P-Vector value 2 0
RXPVector[3] Manually input P-Vector value 3 0
RXPVector[4] Manually input P-Vector value 4 0
RXPVector[5] Manually input P-Vector value 5 0
RXPVector[6] Manually input P-Vector value 6 0
AZTestPoint1 Azimuth position for taking test point 1 140
AZTestPoint2 Azimuth position for taking test point 2 180
AZTestPoint3 Azimuth position for taking test point 3 220
This is the number of P-vector samples that need to be collected
PVMinSamples 1000
in order for a new P-vector to be calculated

CorrectAZ Calculated SPA correction for azimuth

dato 0= signo (1 si -; 0 si +) dat

CorrectEL Calculated SPA correction for elevation

dato 0= signo (1 si -; 0 si +) dat

[Link] Accumulated PSD X-axis correction values

dato 0= signo (1 si -; 0 si +) dat

[Link] Accumulated PSD Y-axis correction values

dato 0= signo (1 si -; 0 si +) dat

PSD.X Actual Value of PSD X Coordinate
PSD.Y Actual Value of PSD Y Coordinate
PSDAnalog PSD signal strength
PVSamples Number of P-vector samples accumulated
PVDate Date of last valid P-vector calculation
PVector[1] P-vector value 1
PVector[2] P-vector value 2
PVector[3] P-vector value 3
PVector[4] P-vector value 4
PVector[5] P-vector value 5
PVector[6] P-vector value 6
AZHome Azimuth axis home switch is triggered
1h H
ELHome Elevation axis home switch is triggered
1h H
PVValid P-vector is valid
PSDEnabled PSD sensor is enabled
PSDLocked PSD sensor is operating normally
PSDXLocked PSD X-axis is within automatic correction zone
PSDYLocked PSD Y-axis is within automatic correction zone
Azimuth SPA position of first test point for the P-vector
TP1AZSPA
calculation
el dato va m
Azimuth SPA position of second test point for the P-vector
TP2AZSPA
calculation
el dato va m
Azimuth SPA position of third test point for the P-vector
TP3AZSPA
calculation
el dato va m
Elevation SPA position of first test point for the P-vector
TP1ELSPA
calculation
el dato va m
Elevation SPA position of second test point for the P-vector
TP2ELSPA
calculation
el dato va m
Elevation SPA position of third test point for the P-vector
TP3ELSPA
calculation
el dato va m
Actual azimuth position of first test point for the P-vector
TP1AZDish
calculation
el dato va m
Actual azimuth position of second test point for the P-vector
TP2AZDish
calculation
el dato va m
Actual azimuth position of third test point for the P-vector
TP3AZDish
calculation
el dato va m
Actual elevation position of first test point for the P-vector
TP1ELDish
calculation
el dato va m
Actual elevation position of second test point for the P-vector
TP2ELDish
calculation
el dato va m
Actual elevation position of third test point for the P-vector
TP3ELDish
calculation
el dato va m
 Resulting azimuth position of first test point for the P-vector
TP1AZ
calculation
Resulting azimuth position of second test point for the P-vector
TP2AZ
calculation
Resulting azimuth position of third test point for the P-vector
TP3AZ
calculation
Resulting elevation position of first test point for the P-vector
TP1EL
calculation
Resulting elevation position of second test point for the P-vector
TP2EL
calculation
Resulting elevation position of third test point for the P-vector
TP3EL
calculation
PVCalculate Enable/Disable Calculate Pvector 1
Heartbeat Debe llevar los siguientes datos. Hora, Keep Alive Flag
Dato 0= Año, Dato 1= mes, Dato 2=día, Dato 3=hora, Dato 4
This message allows the host to set the data-logging update
SetLogFrequency 1
frequency. The valid range is 1-255 seconds.

This message is used to setup the CAN ID of an uninitialized

CANID
(blank) node. The data byte contains the CAN ID.

ErrorReset Host requests a reset of the error flags

NodeReset Initiate a soft boot on the specified node
SysError System is non-functional due to a non-recoverable error
Dato [0]= Motor elevación, Da
Motor Error: 1h=Undervoltage; 2h=Thermal warning; 4h=Thermal shutdown; 8h=Overcurrent; 10
System Error: 1
Commissioning Pregunta si está configurada
FactReset Devuelve a valores de fábrica
ReadSet Remote transmit request for the read parameter set
UpdateSet Remote transmit request for the update parameter set
ResetPSDOffset Reset PSD Offset
SetPSDOffset Set PSD Offset
dato[0]=signo offsetX; dato[1]=off
Motor_Kval Constante de velocidad en tanto porciento de los motores
dato[0]=KVAL eleva
PSDOnSun PSD is on sun
GoClean Go to Clean Position
Sólo puede ir a Clean_Position si está en H
dato 0 el zenith y dato 1 azimuth. Hay que mandarlo antes de inic
X
Petición del HOST: YYZZ=
 Units Message ID (HEX)/ID que se envía DLC(HEX) NVM Actualización Auto ReadSet
008/020XX7F 6 ü

OME, 1=HOME, 2=CLEAN_POSITION, 3=SUNSET, 4=GHOST_TRACKING, 5=TRACKING, 6=EM_POSITION, 7=MANUAL_MODE, 8=ALARM; d

ata[3]=Iout; data[4]=Iin; data[5]=bit4 PSD enable, bit3 Locked on sun, bit 2 Xlocked, bit 1 Ylocked, bit 0 PSD Analog>Minsignal

07B/1EC7FXX 1
07C/1F07FXX 1
07D/1F47FXX 1
Volts 009/024XX7F 4
Ampere 00A/028XX7F 4
Ampere 00C /030XX7F 4
010/0407FXX 4 ü ü
011/0447FXX 4 ü ü
Minutes 012/0487FXX 1 ü ü

Minutes 013/04C7FXX 1 ü ü

Degrees 015/0547FXX 4 ü ü
gno (1 si -; 0 si +) dato 1…3= longitud MSB…LSB (el dato va multiplicado por 1000)

Degrees 016/0587FXX 4 ü ü
igno (1 si -; 0 si +) dato 1…3= latitud MSB…LSB (el dato va multiplicado por 1000)
Meters 017/05C7FXX 2 ü ü
018/0607FXX 1 ü ü
019/0647FXX 1 ü ü
01A/0687FXX 2 ü ü
01B/6C7FXX 2 ü ü
01C/0707FXX 1 ü ü

01D/0747FXX 1 ü ü

Degrees 01E/0787FXX 1 ü ü

Degrees 020/0807FXX 1 ü ü

Degrees 021/0847FXX 1 ü ü

Degrees 022/0887FXX 1 ü ü

Degrees 023/08C7FXX 3 2 ü
dato 0= signo (1 si -; 0 si +) dato 1=Parte entera dato 2=parte decimal

Degrees 024/0907FXX 3 2 ü
dato 0= signo (1 si -; 0 si +) dato 1=Parte entera dato 2=parte decimal

025/0947FXX 1 ü ü
El dato va multiplicado por 1000

026/0987FXX 1 ü ü
El dato va multiplicado por 1000

027/09C7FXX 1 ü ü

029/0A47FXX 1 ü ü

Seconds 02D/0B47FXX 1 ü ü
02E/0B87FXX 2 ü ü
02F/0BC7FXX 4 ü
030/0C07FXX 4 ü
031/0C47FXX 4 ü
032/C87FXX 4 ü
033/0CC7FXX 4 ü
034/0D07FXX 4 ü
Degrees 035/0D47FXX 1 ü ü
Degrees 036/0D87FXX 1 ü ü
Degrees 037/0DC7FXX 1 ü ü
038/0E07FXX 2 ü ü

Degrees 053/14CYYZZ 3

dato 0= signo (1 si -; 0 si +) dato 1=Parte entera dato 2=parte decimal

Degrees 054/150YYZZ 3

dato 0= signo (1 si -; 0 si +) dato 1=Parte entera dato 2=parte decimal

055/154YYZZ 3

dato 0= signo (1 si -; 0 si +) dato 1=Parte entera dato 2=parte decimal

056/158YYZZ 3

dato 0= signo (1 si -; 0 si +) dato 1=Parte entera dato 2=parte decimal

0x28/0A0YYZZ 3
0x2A/0A8YYZZ 3
057/15CYYZZ 2
058/160YYZZ 2
059/164YYZZ 4 ü ü
05A/168YYZZ 4 ü ü
05B/16CYYZZ 4 ü ü
05C/170YYZZ 4 ü ü
05D/174YYZZ 4 ü ü
 05E/178YYZZ 4 ü ü
05F/17CYYZZ 4 ü ü
060/180YYZZ 1
1h Home 2h Busy
062/188YYZZ 1
1h Home 2h Busy
064/190YYZZ 1 ü
065/194YYXX 1
066/198YYZZ 1
067/19CYYZZ 1
068/1A0YYZZ 1

Degrees 069/1A4YYZZ 2 ü
el dato va multiplicado por 100

Degrees 06A/1A8YYZZ 2 ü
el dato va multiplicado por 100

Degrees 06B/1ACYYZZ 2 ü
el dato va multiplicado por 100

Degrees 06C/1B0YYZZ 3 ü
el dato va multiplicado por 100

Degrees 06D/1B4YYZZ 3 ü
el dato va multiplicado por 100

Degrees 06E/1B8YYZZ 3 ü
el dato va multiplicado por 100

Degrees 06F/1BCYYZZ 3 ü
el dato va multiplicado por 100

Degrees 070/1C0YYZZ 3 ü
el dato va multiplicado por 100

Degrees 071/1C4YYZZ 3 ü
el dato va multiplicado por 100

Degrees 072/1C8YYZZ 3 ü
el dato va multiplicado por 100

Degrees 073/1CCYYZZ 3 ü
el dato va multiplicado por 100

Degrees 074/1D0YYZZ 3 ü
el dato va multiplicado por 100
 Degrees 075/1D4YYZZ 4 ü

Degrees 076/1D8YYZZ 4 ü

Degrees 077/1DCYYZZ 4 ü

Degrees 078/1E0YYZZ 4 ü

Degrees 079/1E4YYZZ 4 ü

Degrees 07A/1E8YYZZ 4 ü
00D/034YYZZ 1 ü ü
200/8007F00 8
Dato 2=día, Dato 3=hora, Dato 4=minutos, Dato 5=segundos, Dato 6=Keep_Alive, (dato 7=Pump flag)

Seconds 201/8047FXX 1 ü ü

202/8087FXX 1 ü ü

280/A007FXX 1
281/A047FXX 1
282/A08XX7F 3
Dato [0]= Motor elevación, Dato[1]= Motor azimuth, Dato[2]=sistema
l shutdown; 8h=Overcurrent; 10h= Stall detection (Bridge A); 20h= Stall detection (Bridge B); 40h=Switch error; 80h=Motor no detecta
System Error: 1h=alimentado a baterías
203/80CYYXX 1 ü
204/8107FXX 1
000/0007FXX 1
001/0047FXX 1
039/0E47FXX 1 ü
040/1007FXX 4 ü ü
to[0]=signo offsetX; dato[1]=offsetX;dato[2]=signo offsetY; dato[3]=offsetY
01F/07CYYXX 2 ü
dato[0]=KVAL elevatior; dato[1]=KVAL azimuth
07E/1F8YYZZ 1
07F/1FC7FXX 1
e ir a Clean_Position si está en HOME. En el resto de estados se ignora el comando
Hay que mandarlo antes de iniciar un movimiento. El dato no se actualiza hasta que el motor está parado
XX=ID slave
Petición del HOST: YYZZ=7FXX , respuesta del SLAVE XX7F
 UpdateSet ECO Notas
Envío Automático

N, 7=MANUAL_MODE, 8=ALARM; dato[1]=bit5 busy AZ, bit 4

t 0 PSD Analog>Minsignal

Envío Automático
Envío Automático
Envío Automático
ü
ü

Rango = +/- 180 con 3

ü decimales

Rango = +/- 90 con 3

ü decimales

ü Rango = 0 a 8000
ü
ü
ü Riesgo si no son enteros
ü Riesgo si no son enteros

ü Agrupar con siguiente?

ü Agrupar con anterior?

Usar el mismo para mañana y

ü tarde

Siempre es [Link] se puede

ü mandar XX y usar 1 byte

Rango = +/- 128 con dos

ü decimales

Rango = +/- 128 con dos

ü decimales
 Siempre es [Link] se puede
ü mandar XX y usar 1 byte

Siempre es [Link] se puede

ü mandar XX y usar 1 byte

La ventana es un cuadrado.
ü Vale para los dos ejes

La ventana es un cuadrado.
ü Vale para los dos ejes

ü Rango = 0 a 30 segundos

ü 2 bytes

ü Float con 2 decimales

ü Float con 2 decimales
ü Float con 2 decimales
ü Float con 2 decimales
ü Float con 2 decimales
ü Float con 2 decimales
ü Num. Entero
ü Num. Entero
ü Num. Entero

ü Num. Entero

Rango = +/- 360 grados con

ü dos decimales

Rango = +/- 360 grados con

ü dos decimales

Rango = +/- 360 grados con

ü dos decimales

Rango = +/- 360 grados con

ü dos decimales

ü Numero Entero con signo

ü Numero Entero con signo
ü Rango = Entero 0 a 1000
ü Rango = Entero 0 a 10.000
Fecha
Float con 2 decimales
Float con 2 decimales
Float con 2 decimales
Float con 2 decimales
 Float con 2 decimales
Float con 2 decimales

Rango = 0 a 360 grados con

dos decimales

Rango = 0 a 360 grados con

dos decimales

Rango = 0 a 360 grados con

dos decimales

Rango = 0 a 90 grados con dos

decimales

Rango = 0 a 90 grados con dos

decimales

Rango = 0 a 90 grados con dos

decimales

Rango = 0 a 360 grados con

dos decimales

Rango = 0 a 360 grados con

dos decimales

Rango = 0 a 360 grados con

dos decimales

Rango = 0 a 90 grados con dos

decimales

Rango = 0 a 90 grados con dos

decimales

Rango = 0 a 90 grados con dos

decimales
 BackGround envia HOST

ü Host
ü Host
Node

witch error; 80h=Motor no detectado

ü
ü

arado
 Msg ID Name Get Value Get value remark

ghost_flag, locked_flag,
flow_sensor, esc_status,
busy_AZ, home_AZ, busy_EL,
0x008 systemState home_EL, Vout, Iout, Iin,
PSD_enable, Locked_on_sun,
Xlocked, Ylocked,
PSD_Analog_Minsignal

cold_water_temp,
0x007 sensorData hot_water_temp, tank_temp
motor_elavation,
0x282 sysError motor_azimuth, motor_error
0x000 Read Set
0x01f Motor_Kval kval_elavator, kval_azimuth checked
0x203 Commissioning commissioned checked
0x010 SWVersion SWVersion
0x011 SerialNumber SNo
0x012 TimeoutGhost timeoutGhost checked
0x013 TimeoutPark timeoutPark checked
0x015 Longitude longitude checked
0x016 Latitude latitude checked
0x017 Elevation elevation checked
0x018 MotorStepsAZ motorStepsAZ checked
0x019 MotorStepsEL motorStepsEL checked
0x01a GearRatioAZ gearRatioAZ checked
0x01b GearRatioEL gearRatioEL checked
0x01c DirectionAZ dirAZ checked
0x01d DirectionEL dirEL checked
0x01e SunriseAngle sunRiseAngle checked
0x020 GhostOffset ghostOfs checked
0x021 CleanPos cleanPos checked
0x022 MinTrackCorr minTrackCorr checked
0x023 OffsetAZ ofsAZ checked
0x024 OffsetEL ofsEL checked
0x025 PSDCorrFactorX psdCorrFactorX checked
0x026 PSDCorrFactorY psdCorrFactorY checked
0x027 PSDLimit psdLimit checked
0x029 PSDLock psdLock checked
0x02d PSDRelockDelay psdRelockDelay checked
0x02e PSDMinSignal psdMinSignal checked
0x02f RXPVector_1 rpxVector_1 addon data
0x030 RXPVector_2 rpxVector_2 addon data
0x031 RXPVector_3 rpxVector_3 addon data
0x032 RXPVector_4 rpxVector_4 addon data
0x033 RXPVector_5 rpxVector_5 addon data
0x034 RXPVector_6 rpxVector_6 addon data
0x035 AZTestPoint1 azTestPoint1 checked
0x036 AZTestPoint2 azTestPoint2 checked
0x037 AZTestPoint3 azTestPoint3 checked
0x038 PVMinSamples pvMinSamples checked
0x201 SetLogFrequency logFreq checked
0x202 CANID canID checked
0x00d PVCalculate pvCalculate addon data
0x040 SetPSDOffset psdOfsX, psdOfsY
0x001 Update Set
0x07e PSDOnSun psdOnSun
0x053 CorrectAZ correctAZ
0x054 CorrectEL correctEL
0x055 PSD_UX psdUX
0x056 PSD_UY psdUY
0x028 PSD_X psdX
0x02a PSD_Y psdY
0x057 PSDAnalog psdAnalog

0x281 NodeReset
0x07b Locked Flag
0x07c Ghost Flag
0x07d PSD Enable
0x07f GoClean
 Set Value

readSet
setMotorKVAL
setCommission
swVer
S_No
tmoGhost checked
tmoPark checked
long checked
lat checked
elav checked
motorStepsAZ checked
motorStepsEL checked
gearRatioAZ checked
gearRatioEL checked
dirAZ checked
dirEL checked
sunRiseAng checked
ghostOfs checked
cleanPos checked
minTrackCorr checked
ofsAZ checked
ofsEL checked
PSDCorrFactorX
PSDCorrFactorY
PSDLimit checked
PSDLock checked
PSDRelockDelay checked
PSDMinSignal checked

AZTP1 checked
AZTP2 checked
AZTP3 checked
PVMinSamples
setLogFreq checked
setCANID checked
setPVCal
setPSDOfs
updateSet
PSDOnSun
CorrectAZ
CorrectEL
PSD_UX
PSD_UY
PSD_X
PSD_Y
PSDAnalog

rstNode
lock, unlock
ghost, track
PSDen, PSDds
goClean