RoyalTek rdr-3200 用户手册

 

 

The RDR-3100 provides a second port to receive the speed and reverse message from the 
input source. If the module receives the following input message then the DR module will 
stop reading the speed and reverse message from MCU.  
The communication settings: 
                Baud rate: 38400, n, 8, 1 
                Update rate: 1 Hz 

           This sentence contains the speed and reverse information that read from CAN bus. 
The protocol is illustrated as the following: 
Item Field 

Description 

1 

$ 

Beginning of the sentence 

2 PSRF121 

Message 

Header 

3 Speed 

 

4 

Reverse 

High-normal / Low - activated 

5 *CC<CR><LF> 

 

 
Example: 

 Example: 
$PSRF121, 100, 1*25 
Speed = 100 * scaled meter/second 
Reverse isn’t activated 
Checksum = 25 

 
 
 

 

21