Pepperl+Fuchs IMU360D-F99-B20 User manual

F99 Fusion 
Inertial Measurement
Unit IMU360D-F99-B20
with CAN SAE J1939 Protocol
FACTORY AUTOMATION
MANUAL

With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the Electrical Indus-
try, published by the Central Association of the Electrical Industry (Zentralverband
Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the
supplementary clause: "Expanded reservation of proprietorship"
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20

F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
3
1 Introduction................................................................................. 5
1.1 Content of this Document ................................................................... 5
1.2 Target Group, Personnel...................................................................... 5
1.3 Symbols Used ...................................................................................... 6
1.4 Intended Use ........................................................................................ 6
1.5 General Safety Notes ........................................................................... 6
1.6 Declaration of conformity.................................................................... 7
2 Product Description ................................................................... 8
2.1 Use and application ............................................................................. 8
2.2 LED displays....................................................................................... 10
2.3 Accessories ........................................................................................ 10
3 Installation................................................................................. 11
3.1 Electrical connection ......................................................................... 11
4 Commissioning......................................................................... 12
4.1 Definition of Baud Rate and Node ID ............................................... 12
4.2 Identification characters for system environment.......................... 13
4.3 J1939 Messages - Default Values ..................................................... 14
4.4 PDO Mapping...................................................................................... 15
4.5 SLOT Definition .................................................................................. 17
4.6 Filter Settings ..................................................................................... 18
5 J1939 Interface Description .................................................... 19
5.1 J1939 Message Format...................................................................... 19
5.2 Interpretation of the CAN Identifier .................................................. 19
5.3 Address Claiming............................................................................... 20
5.4 Process Data (PD).............................................................................. 20
5.5 Parameter Mode ................................................................................. 21
5.6 Starting Parameter Mode................................................................... 21

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
5.7 Reading Parameters...........................................................................21
5.8 Writing Parameters.............................................................................22
5.9 Leaving Parameter Mode ...................................................................22
5.10 Answer Messages ..............................................................................23
6 Example..................................................................................... 24
6.1 Set Node ID .........................................................................................24
6.2 Factory reset .......................................................................................26
7 Parameter Table ........................................................................ 28

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Introduction
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1Introduction
1.1 Content of this Document
This document contains information required to use the product in the relevant phases of the
product life cycle. This may include information on the following:
■ Product identification
■ Delivery, transport, and storage
■ Mounting and installation
■ Commissioning and operation
■ Maintenance and repair
■ Troubleshooting
■ Dismounting
■ Disposal
The documentation comprises the following parts:
■ This document
■ Datasheet
In addition, the documentation may comprise the following parts, if applicable:
■ EU-type examination certificate
■ EU declaration of conformity
■ Attestation of conformity
■ Certificates
■ Control drawings
■ Instruction manual
■ Other documents
1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation,
commissioning, operation, maintenance, and dismounting of the product. The personnel must
have read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
Note!
Visit www.pepperl-fuchs.com to access further documentation for full information about the
product.

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Introduction
1.3 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. It is mandatory
that you observe these warning messages for your personal safety and in order to avoid
property damage.
Depending on the risk level, the warning messages are displayed in descending order as
follows:
Informative Symbols
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
1.4 Intended Use
The Inertial Measurement Unit IMU360D-F99, with the F99-Fusion technology, is optimized to
provide gyroscopic stabilized inclination and acceleration data as well as rotation rate data.
Read through these instructions thoroughly. Familiarize yourself with the device before
installing, mounting, or operating.
Always operate the device as described in these instructions to ensure that the device and
connected systems function correctly. The protection of operating personnel and plant is only
guaranteed if the device is operated in accordance with its intended use.
1.5 General Safety Notes
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Installation and commissioning of all devices may only be performed by trained and qualified
personnel.
The device is only approved for appropriate and intended use. Ignoring these instructions will
void any warranty and absolve the manufacturer from any liability.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note!
This symbol brings important information to your attention.

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Introduction
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If serious faults occur, stop using the device. Secure the device against inadvertent operation.
In the event of repairs, return the device to your local Pepperl+Fuchs representative or sales
office.
1.6 Declaration of conformity
This product was developed and manufactured under observance of the applicable European
standards and guidelines.
The product manufacturer, Pepperl+Fuchs GmbH, D-68307 Mannheim, has a certified quality
assurance system that conforms to ISO 9001.
Note!
Disposal
Electronic waste is hazardous waste. When disposing of the equipment, observe the current
statutory requirements in the respective country of use, as well as local regulations.
Note!
A Declaration of Conformity can be requested from the manufacturer.
ISO9001

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Product Description
2ProductDescription
2.1 Use and application
The F99 Fusion, Inertial Measurement Unit IMU360D-F99, combines an acceleration sensor
and a gyroscope into a single device and links the two sensor elements to increase overall
performance of the system and open up new possibilities. This devicer is optimized to provide
gyroscopic stabilized inclination and acceleration data as well as rotation rate data.
Heart of the IMU360D-F99 is the adaptive sensor fusion algorithm. It is developed and
implemented for inclination measurement with extreme effective compensation of external
acceleration disturbance.
Triaxial acceleration sensor and triaxial gyroscope outputs are used as input of the fusion
system. The adaptive sensor fusion algorithm is designed to compensate the measurement
errors by combining accelerometer and gyroscope data adaptively to the current situation.
The following figures show the orientation and assignement of the axis for which the sensor can
be used depending on the parameterization of the angle output system.
P + F Angles (INX / INY) Output
Figure 2.1
Euler Angles (zy'x''/ZXZ) Output
Figure 2.2
x
z
y
Pitch
Yaw
Roll
x
z
y
Pitch
Yaw
Roll

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Product Description
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Several selectable output values such as acceleration, rotational speed , inclination (Euler
angle, Euler value, quaternions) and programmable filters allow you to perfectly adapt the
measuring system to your application.
Parameterization and data transfer take place via the integrated CAN SAE J1939 interface.
In the following figure the signal path of input and output values is illustrated.
Figure 2.3
Triple Axis
Accelerometer
Triple Axis
Gyroscope
Filter 0
Filter 1
Filter 2
Filter 5
Filter 4
Sensor Fusion
Algorithm
Acceleration (Acc)
Mapping ID 0-2
Rotation Rate (Gyro)
Mapping ID 3-5
Rotational Acceleration (RotAcc)
Mapping ID 6-8
Gravity Vector (Grav)
Mapping ID 12-14
Linear Acceleration (LinAcc)
Mapping ID 15-17
Euler Angles (EUI) /
P +F Angles INX/INY
Mapping ID 18-20
Quaternion (Quat)
Mapping ID 21-24
Temperature
Elements
Temperature (Temp)
Mapping ID 25-26
F(x)
F(x)
•P + F Angles INX / INY
F(x)
• Quaternion
• Euler Angles
F(x)
Sensor
Elements
Output
DataSoftware

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Product Description
2.2 LED displays
The IMU360D-F99 has three LED indicators that allow rapid visual monitoring.
■ The green power LED indicates the state of the power supply
■ The yellow run LED indicates the bus and sensor status
■ The red err LED indicates an error
Possible sources of error causes:
■ CAN master is not initialized
■ Baud rate is wrong
■ CAN-high and CAN-low channel are interchanged
2.3 Accessories
Various accessories are available. See datasheet or relevant product page on the Internet
www.pepperl-fuchs.com.
LED State Description
Green: power On Voltage ok
Off No power or sensor defect
Yellow: run On Operational mode
Blinking slowly Parameter mode user
Off Error see red LED "err"
Red: err On ■ Address claiming (max 250 ms)
■ or no bus connection
■ or CAN error passive level (max. 128
retries)
Blinking slowly Claiming conflict, Null address (254)
Flashing CAN err warning level
Off No error
Ta b l e 2 . 1

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Installation
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3Installation
3.1 Electrical connection
The IMU360D-F99 is equipped with 2 connectors M12 x 1, 5-pin, male and female for CAN bus
integration. If a terminator is required, it muss be attached externally on the female connector.
Therefore e. g. "Terminator ICZ-TR-CAN/DN-V15" from Pepperl+Fuchs is available (also see
datasheet of the sensor).
Connecting the sensor to the voltage
Connect the operating voltage to pins 2 and 3 of the 5-pin connector.
The "Power" LED lights up green.
Pin Wire color Designation
1BrownNotused
2White+UB
3BlueGND
4BlackCAN-H
5GrayCAN-L
Table 3.1 Connector assignment
1n.c.
2
3
+UB
GND
CAN-L
4
5
CAN-H
Note!
The wire colors listed above apply when one of the bus cables from the Pepperl+Fuchs
accessories range is used.
Warning!
Damage to the device
Connecting an alternating current or excessive supply voltage can damage the device or cause
the device to malfunction.
Electrical connections with reversed polarity can damage the device or cause the device to
malfunction.
Connect the sensor to direct current (DC). Ensure that the supply voltage rating is within the
specified sensor range. Ensure that the connecting wires on the cordset in use are connected
correctly.

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Commissioning
4 Commissioning
4.1 Definition of Baud Rate and Node ID
The factory settings for establishing communication with the sensor are for
■ Baud rate: 250 kBit/s
■ Node ID: 128
As defined in the J1939 standard the sensor supports the dynamic address claiming starting
with default address 128
dez
. If this feature is not desired you can deactivate it. Details see
chapter "J1939 Interface Description", section "Address Claiming"
For setting a specific node ID for the device you can parameterize parameter Index No. 1.
Details see chapter "Parameter Table" and also chapter "Examples".
The following settings are adjustable with the sensor.
Identification of the sensor in his system environment
Parameterize the sensor idenfication characters according to section "Identification characters
for system environment".
J1939 interface Default setting Range Comment
Baud rate 250 kBit/s 10 kBit/s, 20 kBit/s, 50 kBit/s,
100 kBit/s, 125 kBit/s, 250 kBit/s,
500 kBit/s, 800 kBit/s, 1 MBit/s
J1939 standard uses
only 250 and 500 kBit/s
Node ID 128 0 ... 253
Ta b l e 4 . 1
Note!
For identification of the sensor in his system environment the sensor provides some characters
you can parameterize during commissioning. To enable a quick commissioning of the sensor
the Process Data Objects (PDO) PDO 0 ... 7 are preallocated. Detailed information about these
issues you can find in the tables of the following section "J1939 Messages - Default Values".

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Commissioning
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4.2 Identification characters for system environment
For identification of the sensor in his system environment the sensor provides some characters
you can parameterize during commissioning.
The following table contains the default values of Interface configuration and J1939 name.
They can be defined in the parameters "J1939 Interface" and "J1939 -Name" as listed in
chapter "Parameter Table".
J1939 Name Default Range Comment
Arbitrary Address
Capable
00, 1 (1 bit) Specifies if the ECU can
choose another source
address if it loses the
address claim procedure
Industry Group 00 ... 7 (3 bit) Specifies the industry. (e.g.
off-highway)
Vehicle System
Instance
0 0…15 (4 bit) Identifies a particular
occurrence of vehicle
system. (e.g. trailer #3)
Vehicle System 0 0…127 (7 bit) Identifies vehicle system
(e.g. trailer)
Reserved 10, 1 (1 bit) Fix bit for internal use only
Function 0 0…255 (8 bit) Identifies the function (e.g.
ABS)
Function Instance 0 0…31 (5 bit) Identifies the function
instance (e.g. ABS #1)
ECU Instance 0 0…7 (3 bit) Identifies the ECU instance
inside of the function field.
Manufacturer Code 632 0…2047 (11 bit) 632: Pepperl+Fuchs
manufacturer code
Identity Number Unique serial
number (fix)
0…2097151 (21 bit) Product serial number
Ta b l e 4 . 2

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Commissioning
4.3 J1939 Messages - Default Values
To enable a quick commissioning of the sensor the Process Data Objects (PDO) PDO 0 ... 7
are preallocated as described in the table below.
After the sensor has claimed a node address the measured values will be send automatically
with "Proprietary B" PGN messages. The priority, the PGN and the transmission rate and the
process data mapping is changeable in the parameter mode. It's also possible to request the
process data messages with the "Request" PGN 0x00EAnn. See also chapter "J1939 Interface
Description", section "Process Data (PD)".
The following table contains the default values of the PDO Output data. The PDO output data
can be defined according to section "PDO Mapping" in the parameter "PDO[x].Map" of the
respective PDO as listed in chapter "Parameter Table".
1)
Angle: Please note that the data of the respective upright axis is indefinite (e.g. yaw in case of
the sensor orientation is horizontal with connector sideways)
Message
Cycle time
internal
Identifier (29 bit) Data bytes
Prio. PGN
Source
Address 1 2 3 4 5 6 7 8
Address
Claimed
Once at
Startup
60xEEFF Node-ID J1939 Name (64 bit)
Acceleration
(PDO 0)
10 ms 70xFF00 Node-ID Acc X Acc Y Acc Z
Angular rate
(PDO 1)
10 ms 70xFF01 Node-ID Gyro X Gyro Y Gyro Z
Rotational
Acceleration
(PDO 2)
10 ms 70xFF02 Node-ID RotAcc X RotAcc Y RotAcc Z
Gravity Vector
(PDO 3)
10 ms 70xFF03 Node-ID Gravity
Vector X
Gravity
Vector Y
Gravity
Vector Z
Linear
Acceleration
(PDO 4)
10 ms 70xFF04 Node-ID Linear Acc X Linear Acc Y Linear Acc Z
Angle
1)
(PDO 5)
10 ms 70xFF05 Node-ID Roll: INX Pitch: INX Ya w : I N X
Quaternion
(PDO 6)
10 ms 70xFF06 Node-ID Quat X Quat Y Quat Z Quat W
Mics (PDO 7) 10 ms 70xFF07 Node-ID Te m p s e n s o r
element
Te m p
mainboard
Ta b l e 4 . 3

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Commissioning
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4.4 PDO Mapping
The following table describes the allocation of the PDO Output data. Triaxial acceleration
sensor and triaxial gyroscope data is provided as raw data and used as input of the sensor
fusion algorithm. The sensor fusion algorithm is designed to compensate the measurement
errors by combining accelerometer and gyroscope data (Sensor Fusion data). The PDO output
data can be defined in the parameter PDO[x].Map of the respective PDO as listed in chapter
"Parameter Table".
Mapping
ID Data Data name Data description Data type
0Acc X Acceleration X Acceleration in x direction Raw data
1Acc Y Acceleration Y Acceleration in y direction Raw data
2Acc Z Acceleration Z Acceleration in z direction Raw data
3Gyro X Gyroscope X Rotation rate around the x axis Raw data
4Gyro Y Gyroscope Y Rotation rate around the y axis Raw data
5Gyro Z Gyroscope Z Rotation rate around the z axis Raw data
6RotAcc X Rotational
Acceleration X
Rotational acceleration around the
x axis
Raw data
7RotAcc Y Rotational
Acceleration Y
Rotational acceleration around the
y axis
Raw data
8RotAcc Z Rotational
Acceleration Z
Rotational acceleration around the
z axis
Raw data
9 - - Reserved (internal use only) Raw data
10 - - Reserved (internal use only) Raw data
11 - - Reserved (internal use only) Raw data
12 Grav X Gravity Vector X Proportion of the gravity vector in x
direction without external
acceleration
Sensor
Fusion
data
13 Grav Y Gravity Vector Y Proportion of the gravity vector in y
direction without external
acceleration
Sensor
Fusion
data
14 Grav Z Gravity Vector Z Proportion of the gravity vector in z
direction without external
acceleration
Sensor
Fusion
data
15 LinAcc X Linear Acceleration X Acceleration in x direction without
gravity vector
Sensor
Fusion
data
16 LinAcc Y Linear Acceleration Y Acceleration in y direction without
gravity vector
Sensor
Fusion
data
17 LinAcc Z Linear Acceleration Z Acceleration in z direction without
gravity vector
Sensor
Fusion
data
18 Roll
1)
Roll P + F Angle INX/INY: Rotation
about y axis
Sensor
Fusion
data
Euler Angle: psi Sensor
Fusion
data

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Commissioning
1)
Please note that the data of the respective upright axis is indefinite (e.g. yaw in case of the
sensor orientation is horizontal plane and the connector face sideways)
19 Pitch
1)
Pitch P + F Angle INX/INY: Rotation
about x axis
Sensor
Fusion
data
Euler Angle: theta Sensor
Fusion
data
20 Yaw
1)
Ya w P + F Angle INX/INY: Rotation
about z axis
Sensor
Fusion
data
Euler Angle: phi Sensor
Fusion
data
21 Quat X Quaternion X Quaternion Data X Sensor
Fusion
data
22 Quat Y Quaternion Y Quaternion Data Y Sensor
Fusion
data
23 Quat Z Quaternion Z Quaternion Data Z
Note: Output value is always "0"
Sensor
Fusion
data
24 Quat W Quaternion W Quaternion Data W Sensor
Fusion
data
25 Te m p
Sens
Te m p e r a t u r e s e n s o r Temperature of the sensor
element
Raw data
26 Te m p
Main
Te m p e r a t u r e
Mainboard
Temperature of the mainboard Raw data
27 -Empty no data Empty no data -
Ta b l e 4 . 4
Mapping
ID Data Data name Data description Data type

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Commissioning
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4.5 SLOT Definition
In the following SLOT definition table the Scaling, Limit, Offset and Transfer function of the
output data is described. The SLOT definition can be defined in the "SLOT definition"
parameters as listed in chapter “Parameter table”.
All signed data is 16 bit (two's complement). The abbreviation "g" is equivalent with the
acceleration of gravity factor 9,81 m/s
2
.
Example
AccX data = 987 Dez; Offset value = 0; Factor = 1000 >> Acceleration in x direction = (987 - 0)/
1000 g= 0,987 g
SLOT
Definition
Acceleration (Acc)/
Gravity Vector (Grav)/
Linear Acceleration
(LinAcc)
Rotational
Acceleration
(RotAcc)
Rotation
Rate
(Gyro)
Euler Angles
(EUI)
zy'x'', ZXZ
P + F
Angles
INX/INY
Quaternion
(Quat)
Te m p e r a t u r e
(temp)
Data
Length
2 Bytes signed 2 Bytes
signed
2 Bytes
signed
2 Bytes
signed
2 Bytes
unsigned
2 Bytes
signed
2 Bytes
signed
Basic Unit g°/s
2
°/s ° ° -°C
Range +/- 2 g±2500 °/s
2
±250
°/s
Roll, Pitch,
Yaw -180 °...
+ 180 °
Roll, Pitch,
Ya w 0 °...
360 °
±1 -40 °C ...
+85 °C
Offset 0 mg 0 °/s
2
0 °/s 0 °0 °00 °C
Default
Factor
1000 1100 100 100 1000 10
Tra nsfe r
Function
= ((Data - Offset)/Factor) [basic unit]
Ta b l e 4 . 5

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Commissioning
4.6 Filter Settings
The following filter types can be used to enable filters in the signal path in order to adapt the
device to special applications. For the allocation of the different filters, please see the signal
graph above. The filter settings can be defined in the parameters "Filter Settings" as listed in
chapter "Parameter Table".
Filter Types ID
Butterworth lowpass 0
Butterworth highpass 1
Bessel lowpass 2
Bessel highpass 3
Tschebyscheff lowpass 4
Tschebyscheff highpass 5
Ta b l e 4 . 6
Filter Order ID
Off 0
1
st
1
2
nd
2
3
rd
3
Ta b l e 4 . 7
Cut-off frequency ID
1 ... 65000 mHz 1 ... 65000
Ta b l e 4 . 8

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J1939 Interface Description
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5 J1939 Interface Description
5.1 J1939 Message Format
The J1939 interface uses the 29 bit CAN-ID. The CAN-ID in J1939 is assembled of a
Parameter Group Number (PGN) and a source address.
A parameter group (PG) consists of various parameters, such as offset value, direction of
rotation, etc. That means, a PGN specifies what’s in that data field.
The priority field has a width of 3 bits. It indicates the message priority. Priority "0" is the highest
and "7" the lowest.
A value of "PDU format" between 0x00 and 0xF0 causes messaging between two specific
devices. In this case the field "PDU specific" equates to the destination address. A value of
"PDU format" higher than 0xF0 causes broadcast messaging to all devices in a group. "PDU
specific" is then interpreted as a "group extension".
The device address (node ID) of every individual device in the network has to be unique. This
can be assured by means of the address claiming procedure. Details see chapter "J1939
Interface Description", section "Address claiming".
5.2 Interpretation of the CAN Identifier
The CAN identifier of a J1939 message contains Parameter Group Number (PGN), source
address, priority, data page bit, extended data page bit and a target address (except for
broadcast messages).
The identifier is composed as follows:
The entire telegram contains the identifier and the data section.
Example Request PGN
Priority
Extended data
page Data page PDU format
PDU Specific
(Destination address)
Source
address
3 bit 1 bit 1 bit 8 bit 8 bit 8 bit
Ta b l e 5 . 1
Identifier (29 Bit) Data Bytes
Priority
(3 bit)
PGN Source
address
(8 bit)
1 2 3 4 5 6 7 8
Extended
data page
(1 bit)
Data
page 
(1 bit)
PDU format
(8 Bit)
Destination
address
(8 bit)
Requested PGN
0x07 0x00 0x00 0xEA 0x80 0x32 LSB MSB 00 xx xx xx xx xx
0x1CEA8032
Ta b l e 5 . 2

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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
J1939 Interface Description
The following table explains the 29 bit identifier of the example above.
5.3 Address Claiming
As defined in the J1939 standard the sensor supports the dynamic address claiming. To switch
off this function the arbitrary bit in the J1939 name (Parameter index 0x02) should be set to
zero.
The sensor starts the claiming with the default node address 128 (0x80) (Parameter Index
0x01). If an address conflict with a higher prior node occurs the network management will
change the node address automatically using his internal address claimed table. In this table
the sensor registers all claimed addresses from other nodes. The table will be cleared on a
reset. After a conflict the new claimed address will be saved in the parameter set and used on a
restart.
If the dynamic claiming is not active or no free node address is available the sensor will use the
null address 254. The null address is not saved in the parameter set: After a restart the sensor
will use the last claimed address. The Parameter Group Number (PGN) 0x00FED8
"Commanded Address" is not supported.
5.4 Process Data (PD)
After the sensor has claimed a node address the measured inclination values will be send
automatically with a "Proprietary B" PGN message. The priority, the PGN and the transmission
rate are changeable in the parameter mode. It's also possible to request the process data
message with the "Request" PGN 0x00EAnn.
Example Request PGN 0x FF 01:
*: placeholder, necessary
nn: destination address -> sensor node adress
rr: source address
xx: unused, bytes optional
Bit 29
2
8
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
1
9
1
8
1
7
1
6
1
5
1
4
1
3
1
2
1
1
1
09 8 7 6 5 4 3 2 1
Byte 43 (PDU format) 2 (destination address) 1 (source address)
Value 1 1100111010101000000000110010
0x
1
0xC 0xE 0xA 0x8 0x0 0x3 0x2
0x1CEA8032
Ta b l e 5 . 3
Identifier Data Bytes
Priority PGN Source
address
1 2 3 4 5 6 7 8
Requested PGN
*0x00EAnn rr 01 FF 00 xx xx xx xx xx
Ta b l e 5 . 4
Note!
Requested PGN: LSB first!