SAE J1939 CAN bus Version 3.1
User manual v1.3

Version 3 applies to all standard CAN bus actuators produced
the 19th of August 2019 and onwards

LINAK.COM/TECHLINE
Page 1 of 40

Contents

Contents

Preface........................................................................................................................4
LINAK® application policy.............................................................................................5
Revision overview.........................................................................................................6
About LINAK® CAN bus actuators................................................................................7
Summary............................................................................................................................. 7

Functional overview.....................................................................................................8
Command details.......................................................................................................10
Run in/out......................................................................................................................... 10
Position............................................................................................................................. 10
Maximum current in/out.................................................................................................... 10
Speed control.................................................................................................................... 10

Status feedback details...............................................................................................11
Status feedback details...............................................................................................12
Position feedback.............................................................................................................. 12
Current feedback............................................................................................................... 12Soft start/stop................................................................................................................... 12

CAN bus specifications...............................................................................................13
Standards.......................................................................................................................... 13

Internal monitoring....................................................................................................14
Current limits and measurements....................................................................................... 14
Voltage............................................................................................................................. 15
Temperature...................................................................................................................... 15
H-bridge............................................................................................................................ 15
Parameters........................................................................................................................ 15

Recovery mode...........................................................................................................16
Sleep mode................................................................................................................17
Environmental data and tests.....................................................................................18
Operational environment................................................................................................... 18
Supply voltage................................................................................................................... 18
Power loss......................................................................................................................... 18
Over voltage...................................................................................................................... 18
EMC................................................................................................................................. 19

BusLink service interface.............................................................................................20
Installing LINAK® CAN bus actuators..........................................................................21
Introduction...................................................................................................................... 21
Connections...................................................................................................................... 21

Electrical installation..................................................................................................22

Page 2 of 40

Manual run mode.............................................................................................................. 23
CAN hardware addressing ................................................................................................ 23
Proprietary input state....................................................................................................... 25
Proprietary A..................................................................................................................... 27
Data field.......................................................................................................................... 27
Proprietary B..................................................................................................................... 28

Diagnostics overview..................................................................................................31
Diagnostic Troubleshoot Codes (DTC)..........................................................................33
Diagnostics examples.................................................................................................34
Network Management...............................................................................................35
Diagnostics....................................................................................................................... 35

Usecases....................................................................................................................36
Example 1: ....................................................................................................................... 36
Example 2: ....................................................................................................................... 37
Example 3: ....................................................................................................................... 38
Example 4: ....................................................................................................................... 39

Page 3 of 40

Preface
Dear User,
We are delighted that you have chosen a product from LINAK®.
LINAK systems are high-tech products based on many years of experience in the manufacture and developmentof actuators, electric control boxes, controls, and chargers.
This user manual does not address the end-user, but is intended as a source of information for the manufacturerof the equipment or system only, and it will tell you how to install, use and maintain your LINAK electronics. It
is the responsibility of the manufacturer of the end-use product to provide a User Manual where relevant safety
information from this manual is passed on to the end-user.
We are confident that your LINAK product/system will give you many years of hassle-free operation. Before our
products leave the factory they undergo full function and quality testing. If you should experience any problem
with your LINAK product/system please contact your local supplier. LINAK subsidiaries and some distributors haveauthorised service centres, which are always ready to help you.
LINAK provides warranty on all LINAK products. The warranty, however, is subject to correct use in accordancewith the specifications, maintenance being done correctly and any repairs being carried out at a service centre,
which is authorised to repair LINAK products.
Changes in installation and use of LINAK products/systems can affect their operation and durability. The products
are not to be opened by unauthorised personnel.
This User Manual has been written based on our present technical knowledge. We are constantly striving to
update both our products and the associated information we therefore reserve the right to carry out technicalmodifications without prior notice.
This user manual refers to the CAN bus software version: SW01050000V3-x

LINAK A/S

Page 4 of 40

LINAK® application policy
The purpose of the application policy is to define areas of responsibilities in relation to applying a LINAK productdefined as hardware, software, technical advice, etc. related to an existing or a new customer application.
LINAK products as defined above are applicable for a wide range of applications within Medical, Furniture, Desk,and Industry areas. Yet, LINAK cannot know all the conditions under which LINAK products will be installed, used,
and operated, as each individual application is unique.
The suitability and functionality of the LINAK product and its performance under varying conditions (application,
vibration, load, humidity, temperature, frequency, etc.) can only be verified by testing, and shall ultimately be theresponsibility of the LINAK customer using any LINAK product.
LINAK shall be responsible solely that LINAK products comply with the specifications set out by LINAK and it
shall be the responsibility of the LINAK customer to ensure that the specific LINAK product can be used for theapplication in question.

Page 5 of 40

Revision overview
Version 1.3
Revision overview added to the manual						Page 6
Changes regarding softvare version 3.1
In The data field: bit 255 can now be used for ‘Soft start’ and ‘Soft stop’ in byte 3 and 4		
Page 27
Terms of use updated 							Page 40

Page 6 of 40

About LINAK® CAN bus actuators
SummaryThis document describes the capabilities of LINAK TECHLINE® CAN bus components and the requirements forcontrolling these. It specifies the technologies involved, the environmental data specification and the functionaldescription.
LINAK TECHLINE CAN bus actuators are primarily designed with focus on mobile agriculture and industrial
automation.
The communication protocol relies on the SAE J1939 standard. The contents of this document assume the reader
is familiar with the SAE J1939 standard.
In addition to full position control, the CAN bus actuator is able to provide feedback information about the piston
position, service data and full diagnostics. It also provides system identification data and actual current at runtime.

Page 7 of 40

Functional overview
The LINAK® TECHLINE® CAN bus offers a command set for controlling the actuator. This is split up into Commands
and Configuration Management (Proprietary A), Status (Proprietary B) and diagnostics.

Proprietary A

J1939

Commands and Configuration Management
Commands

Run forward/backward/to position/stop
Current limit in/out

Setup values

Soft start/stop timeMax. speed

StatusCurrent

Running status

Postition
Direction
End stop reached
Over current

Proprietary B

J1939

Input pin levels
Number of endstops

Counters

Number of starts
Hall sensor
Over voltage
Under voltage

Error status

CAN communication
End Stop Signal (ESS)Power on block stateOver temperature

Table 1. Command set, configuration management and status feedback.

Page 8 of 40

Diagnostics
Actuator address

Setup

CAN bus transmission rate
Unique ID number (UIN)
Software ID

Identification

Production order number

Diagnostics

SAE J1939-73

Production dateMax. current recorded
Max./min. temperatures recorded

Historic values

Number of end stops
Number of starts
Current · time [A · s]

Usage

RuntimeOver temperature
Over/under voltage

Reason for last stop

Over current
Communication error

Table 2. Diagnostics setup.

Page 9 of 40

Command details
Run in/out

In and out movement is performed by sending the proper identifier while the actuator is in CAN bus mode. In
Service mode, movement is achieved by using the LINAK® BusLink PC software or by applying the proper signals
to the Manual run wires. Using manual run, a start-up delay of up to 150 ms must be expected due to safetymeasures.

Position

Max/min. position:
Level setting steps:

Stroke length
0.1 mmLoad, ramping up and down and specific actuator type (spindle/gear box) should be taken into account in regard
to accuracy.
The Position SetPoint can be set dynamically.
If the new SetPoint involves a change in running direction, the ramps will follow the pre-set ramp time.

Maximum current in/out

Applying a current limit will induce a degree of mechanical overload protection to the installation.
Max. current limit:
Level setting steps:

Fixed limit*
0.25 A*The custom current limit setting cannot overrule the fixed factory setting which insures partially protection of theelectronics and mechanics. See “Internal monitoring” on page 14 for details.

Speed control

The speed is controlled using Pulse Width Modulation (PWM).
Min. duty cycle:
Max. duty cycle:
Level setting steps:

0%
100 %
0.5 %

Closed loop speed control will ensure a more accurate speed. In order to obtain this, the maximum speed isreduced to approximately 80%. The actual speed will be influenced by the gear and spindle size in the actuator.
The speed setting can be changed dynamically at run time.
Run
out
100%

Ramp
time
Run out @50% speed

50%

Run out @100% speed

Run in @70% speed
time

50%
100%

		
Run inFigure 1. Speed control Graphics
Page 10 of 40

Status feedback details
A number of status parameters can be observed while the actuator is not in sleep mode.
The status flags are bit masked.
Status flag feedback
Value

Function

Comment

0

End Stop Signal (ESS) in

The actuator has reached the physical or virtual endstop in

1

ESS out

The actuator has reached the physical or virtual endstop out

2

Over current*

The actuator has measured a current larger than permitted
for a longer period of time than allowed

3

Running out

Will indicate that the actuator is running outwards

4

Running inWill indicate that the actuator is running inwards

5

Reserved

Always 1

6

Reserved

Always 1

7

Reserved

Always 1

Table 3. Status flags overview.

* An Overcurrent flag will prevent the actuator from further movement in the same direction. To clear the flag,
send a stop command and order the actuator to run in the opposite direction.
Error code* feedback
Value

Function

Comment0

No errorNo error detected

1

Hall error

Hall position sensor or magnet is not responding as
expected

2

Over voltage

The actuator has measured a voltage larger than permitted

3

Under voltage

4

Failed to KeepCAN signal alive

5

ESS error

The actuator is experiencing unexpected behaviour

6

Power on Block
State

7

Temperature error

Must be cleared after power up. This will prevent an unintentional movement
One of the two temperature sensors report a higher temperature than permitted

Table 4. Error codes overview.

The actuator has measured a voltage lower than permitted
while running
Failed to maintain CAN keep alive signal. No General
Request Message received for 300 milliseconds while in a
run condition*Error codes must be cleared in order to continue, except Error 6 ‘Power on Block State’ which can also be clearedusing the ‘Stop’ command. Error codes are enumerated, indicating the active error of the highest priority.
Page 11 of 40

Status feedback details
Position feedback
Value

Function

Comment

0 - 64255

Position

Position in 1/10th mm

65024

Position lost

Position discrepancy or actuator is not initialised

Table 5. Position feedback overview.

Current feedback
Value

Function

Comment0

Not running

Current level is indicating no activity

1 - 250

Current

Measured motor current

Table 6. Current feedback overview.

Soft start/stop

To reduce mechanical stress, a ramp up and ramp down time can be set in both directions.
Hard stop
Min. ramp time:Max. ramp time:

0 sec
300 ms30 sec.

A ramp down time between 0 and 300 ms is not allowed in order to minimise the effect of back EMF from the
motor.

Page 12 of 40

CAN bus specifications
This section describes the requirements of the CAN bus hardware and software interface.
The physical layer is in accordance with J1939-15.
Speed
Max. bus lengthMax. stub lengthMax. node countWiringCable impedance

125 kbps, 250 kbps, 500 kbps or Auto baud (changeable in BusLink)
40 metres
3 metres10 (30*)Unshielded twisted pair120 Ω (±10%)

The maximum cable length delivered by LINAK® is not longer than 3 metres. Consequently, all system tests carriedout are limited to consist of 3 meter cables.
Non-error tolerant physical layer with the following specifications: Low-power mode is according to ISO 11898-5.
* The SAE J1939-15 can accept up to 30 nodes. See section 3.1 of J1939-15 May 2014 for details.

Standards

The following standards and revisions are the bases of the LINAK TECHLINE® CAN bus software:• SAE J1939-21 DEC2010

Data Link Layer• SAE J1939-31 APR2014

Network Layer• SAE J1939-71 APR2014

Application Layer• SAE J1939-73 JUL2013
			
			
			

Application Layer – Diagnostics
DM14 (Memory access request)
DM15 (Memory access response)
DM16 (Binary data transfer)• SAE J1939-81 JUN 2011

Network Management• SAE J1939-82 AUG 2008

Compliance - Truck and bus**** Complies with relevant parts of the SAE J1939-82.

Page 13 of 40

Internal monitoring
A number of parameters are monitored during operation to prevent overloading the electronics and to minimise
the risk of mechanical damage.

Current limits and measurements

The principle behind the current measurement is an ‘above limit’ and ‘below limit’ accumulating counter. When the
Timeout counter reaches a specific value the current cut-off goes into effect. The timeout value is pre-set at 200
to 500ms depending on actuator type.

Figure 2. Dynamic current limit principle.

In case of current limit activation (Timeout counter max is reached), the actuator will stop and an over current
error is triggered. The error is cleared when the actuator is activated in the opposite direction or by issuing a Clear
error command.
Custom over current limit can only be lower than or equal to the fixed factory setting.

Page 14 of 40

Voltage

The supply voltage level is monitored in order to maintain a safe operation and to protect the circuitry.

Temperature

Two temperature monitoring circuits are in place to measure the absolute temperature of the board and the centre
temperature of the H-bridge.

H-bridge

The H-bridge conditions are monitored at all times. Several conditions are required in order to run.
Among these are:••••

Correct voltage supplies
Heartbeat safety signal
Correct temperatures
No errors

Parameters

In addition to the immediate monitoring, a number of parameters are saved for long-term evaluation.
These include:
•
•
•
•
•
•

Number of starts in either direction
Reason for last stop
Total running time
Under and over voltage
Maximum current
Number of current overloads in either direction

These parameters will help the engineer sort out existing issues. Considering a combination of parameter values,
the lifetime load can indicate a potential failure before it happens and thereby prevent downtime.

Page 15 of 40

Recovery mode
The purpose of the Recovery mode is to gain the ability to perform movement even if the actuator is in an internal
error state. When running the actuator using Manual run Recovery mode, any of the errors listed below that may
be present, will be ignored.
When to engage Recovery mode movement:• If the actuator has encountered an error, preventing it from moving to a position required to complete the task.
• If the operation detects a misalignment in the actuator. For example, reporting 0 position while not fully retracted.
If it becomes necessary to engage Recovery mode, the user must be aware that the actuator is running in an
abnormal condition and the issue should be addressed.
The following states will prevent normal operation but allow Recovery mode operation.
• Hall sensor error• Over voltage• Under voltage• CAN communication error• End Stop Signal (ESS) switch error• Power on block state• Temperature error• Heartbeat error• SMPS error
Each time the Recovery mode is used, an internal counter will increment.
The Run to position functionality is not available in Recovery mode.

Page 16 of 40

Sleep mode
The sleep and wakeup functionality is according to ISO11898-5. The current consumption in sleep mode is:

Sleep mode current consumption
Supplyvoltage

25 °C

60 °C *

85 °C *

12 V

100 μA

1.0 mA

1.2 mA

24 V

250 μA

2.0 mA

2.4 mA

Table 7. Sleep mode current consumption.

* The current consumption at 60°C - 85°C is subject to change.
Entering sleep mode
The actuator will enter sleep mode after a preset default time of 5 minutes. Conditions for entering sleep modeare one of the following:•••

No CAN bus activity
No Service interface activity
No manual drive activity

Exiting sleep mode••••

Any CAN bus activity
Service interface activity
Activating manual run
Power up

Page 17 of 40

Environmental data and tests
The CAN bus actuators fulfil the environmental requirements as defined:

Operational environment
Ambient temperature:
Relative humidity:
Pressure:-30°C to 65°C (full performance only from +5°C to 40°C)
30% to 80% @ 30°C
700hPa to 1060hPa

Storage environment
Ambient temperature:
Relative humidity:
Pressure:-55°C to 105°C
30% to 80% @ 30°C
700hPa to 1060hPa

Supply voltage

The actuator will be available in two supply voltage ranges, 12 VDC and 24 VDC. The accepted supply voltage
range is specified according to ISO16750-2012.

Supplyvoltage
12 V

24 V

VMIN

VTYP

VMAX

Reference

Note

10.5 V

12 V

16 V

ISO 16750-2:2012 - Code D

Motor running

6V

12 V

16 V

ISO 16750-2:2012 - Code A

18 V

24 V

32 V

ISO 16750-2:2012 - Code H

10 V

24 V

32 V

ISO 16750-2:2012 - Code E

Motor not running
CAN communication possible
Motor running
Motor not running
CAN communication possible

Table 8. Voltage supply levels.

Power loss

In case of power loss, the actuator position and other important data is saved by the on-board microcontroller.

Over voltage

If the voltage rises above approx. 40 volts, the system will enter overvoltage protection mode and shut down.

Page 18 of 40

EMC

The Electromagnetic Compatibility tests performed on the LINAK® CAN bus actuator comply with the TECHLINE®
Electrical Test Specification. The scope of tests is verified and accredited by DELTA A/S test laboratory.
Norm/Standard

Test decription
Supply voltage range
Overvoltage
Superimposed alternating voltage
Slow lowering and raising the voltage supply
Momentary drop in supply voltage

ISO 16750-2:2012

Reset behaviour for voltage drop
Reversed voltage
Ground reference and supply offset
Open circuit test
Short circuit protection
Load dump – Test pulse 5a
Load dump test pulse 5b
Test pulse 1
Test pulse 2a

ISO 7637-2:2011

Test pulse 2b
Test pulse 3a
Test pulse 3b

ISO 16750-2:2012

Test pulse 4

ISO 7637-2:2011

Voltage transient emission test on power supply lines

ISO 7637-3:2007

Electric transient transmission by cap. and inductive coupling

CISPR 25 IEC:2008

Conducted disturbance voltage measurement
Radiated emission – ALSE method

CISPR 16-1-2:2010

Conducted emission

CISPR 16-2-3:2010

Radiated emission

ISO 10605 2nd Ed.

ESD immunity

IEC 61000-4-2 2nd Ed.

ESD immunity

ISO 11452-1:2005, ISO 11452-2:2004,
Interference immunity
ISO 11452-4:2011, ISO 11452-5:2002
IEC 61000-4-3:2006

Interference fields immunity test

IEC 61000-4-8:2010

Power frequency magnetic field

IEC 61000-4-4:2004

Burst transients

IEC 61000-4-5:2006
Surge transients
Table 9. LINAK TECHLINE EMC test overview.

Page 19 of 40

BusLink service interface
The BusLink service interface offers a wide range of settings and status feedback options. Use the LINAK® USB2LIN
cable and the LINAK BusLink PC software will gain access to:
BusLink settings• Initialisation• Current limit settings• Soft start/stop timing
BusLink feedback• Run time parameters• Number of starts and stops• Maximum current and temperature• Error messages
The actuator can also be run manually using BusLink control interface. During normal CAN operation, BusLink
manual run is disabled. The service interface is only intended to run with the BusLink PC software tool.

Figure 2. LINAK USB2LIN service cable.

Figure 3. LINAK adapter cable.

See the BusLink Quick Guide for details on how to connect to the specific actuator model.
The USB2LIN service cable and adapter cable suitable for LA33CAN, LA36CAN and LA37CAN can be ordered as
PN: 0367997.
The LA14CAN and LA25CAN USB2LIN service and adapter cable can be ordered as PN: 0147997

Page 20 of 40

Installing LINAK® CAN bus actuators
Introduction
This section will assist you in the installation of the LINAK CAN bus actuator. Going through parameters andprocedures necessary for a successful implementation.
••••

Connections
Electrical installation
Communication
See usecases here: “Usecases” on page 36

Connections
The tables below define the wire connections to the LINAK TECHLINE® CAN bus actuators. These colours are
consistent with all LINAK TECHLINE CAN bus actuators.
Single connector actuators

Dual connector actuators

Power connector, 8-pin mini-fit connector

Power connector, 6-pin mini-fit connector

LINAK cable

Description

LINAK cable

Description

Brown+ Power supply (12/24VDC)

Brown+ Power supply (12/24VDC)

Blue- Power supply (GND)Blue- Power supply (GND)Black

Manual run in / Input 1

Red

Manual run out / Input 2

White

Service interface GND /Input 3PurpleService interface DATALINAK cable

Description

Yellow

CAN H

Black

Manual run in / Input 1

Green

CAN L

Red

Manual run out / Input 2

White

Service interface GND /Input 3PurpleService interface

Yellow

CAN H

Green

CAN L

Table 11. Power wire colours.

Communication connector, 6-pin micro-fit connector

Table 10. Power and communication wire colour.

Table 12. Communication wire colours.

By default, cables are supplied with flying leads.

Page 21 of 40

Electrical installation
The J1939-15 defines the Reduced Physical Layer, 250K bits/sec, Un-Shielded Twisted Pair (UTP) and runs withseparate communication and power supply wires.

PWR

PWR

LINAK TECHLINE®
CAN bus actuator

LINAK TECHLINE
CAN bus actuator

GND

GND

ECU_PWR
CAN_H
ECU

CAN_L
ECU_GND

Figure 4. Power supply connection setup.

The power supply for the LINAK® CAN bus actuator should be kept separate from the CAN bus power supply, if
such one exists.

Page 22 of 40

Manual run modeIf manual run mode is engaged, the Service interface is enabled.
During manual run mode where Inputs 1 - 3 are low or floating on power-up, the actuator will continue to send
status feedback on the CAN bus. However, if other CAN devices are active on the network, manual run mode
will be disengaged. The CAN software address range 128-247 is reserved for this mode. The Service interface isalso accessible during manual run mode.

Power Vcc

FUSE
12/24VDC

Power GND
Manual run in
Manual run out
Service GND
PC

USB2LIN

Service DATACAN_HJ1939-15
CAN_L
Figure 5. Manual run connection diagram.

CAN hardware addressing

If hardware addressing was selected during ordering, a maximum of 7 unique addresses can be configured.
Manual run mode is no longer possible. See table 13 for details.
FUSE
12/24VDC

Power Vcc
Power GND
Address 1
Address 2
Address 3n/aJ1939-15

CAN_H
CAN_L

Figure 6. Address mode connection diagram using Power Vcc.
Page 23 of 40

If the actuator is in hardware addressing mode the following addresses are configured using the 3 input pins.
Address configuration and pin settings.
Pin setting
Address pin 1
Black

Address pin 2
redAddress pin 3
white

Address

Open

Open

Open

Manual Run Mode

High

High

High

0x80 (128)

High

High

Open

0x81 (129)

High

Open

High

0x82 (130)

High

Open

Open

0x83 (131)

Open

High

High

0x84 (132)

Open

High

Open

0x85 (133)

Open

Open

High

0x86 (134)

Table 13. Pin address settings.

The address configuration consists of input pins which can be pulled high or left as open circuit. Address colors
indicate standard LINAK® wire colors.

Page 24 of 40

Proprietary input state
The hardware input state can be read in the Proprietary B general status frame. Byte 7, bit 0 to bit 5 provides statuson the three physical inputs. Two bits per input pin:
Bits

Address pin

Input bits

Definition

0 and 11

0

0

0 - 25% Vcc

2 and 32

0

1

25 - 50% Vcc

4 and 53

1

0

50 - 75% Vcc

6 and 7n/a

1

1

75 - 100% Vcc

Table 14. Address bit relation

Termination

Table 15. Pin address levels

Termination resistors of 120 Ω shall be connected according to the figure below.
The actuator does not have internal termination.

LINAK TECHLINE
CAN bus actuator

LINAK TECHLINE
CAN bus actuator

CAN_H
120 Ω

120 Ω

CAN_L

Figure 8. Terminal resistor configuration.

Page 25 of 40

Communication
The installation must be performed by qualified personnel with knowledge of CAN bus communication and theSAE J1939 standard. Only the sections of the standard which are relevant for the installation will be discussed.
•

SAE J1939-21 Data Link Layer		Proprietary A, Proprietary B			•SAE J1939-73 Application Layer		Diagnostics				•

SAE J1939-81 Network Management

Data range definition
Range name
Valid signal
Parameter specific indicator
Reserved range for futureindicator bits
Error indicator
Not available, not installed
or not requested

1 byte2 bytes0 - 250

0 - 64255

0x00 - 0xFA
251

0x0000 - 0xFAFF
64256 - 64511

0xFB
252 - 253

0xFB00 - 0xFBFF
64512 - 65023

0xFC - 0xFD
254

0xFC00 - 0xFDFF
65024 - 65279

0xFE
255

0xFE00 - 0xFEFF
65280 - 65535

0xFF

0xFF00 - 0xFFFF

Table 16. SAE J1939 defined data ranges

Page 26 of 40

Communication
Proprietary A
Function:
Description

General request
Write to proprietary A to clear error state, run out, run in or run to a specific position in
addition to setting speed and current limit.

Min. transmission rate
PGN

250ms
0x00EF00

Data field
Byte7(Sent last)

Byte6

Byte5

Byte4

Byte3

Byte2

Byte1

Byte0
(Sent first)

Reserved,
write 0xFF

Reserved,
write 0xFF

Soft Stop[ms*50]Soft Start[ms*50]Speed[%*0.5]Current[mA*250]

Position[mm*0.1]
MSB

Position LSB

Table 17. 8 bytes containing all changeable data.

Byte(s)Name

Byte6 Byte7

Reserved

Byte5Soft Stop

Byte4

Soft Start

Byte3

Speed

Byte2

Current

Byte0Byte1

Position

Details
Always write 0xFF
0-250
Stop ramping time (ms)251, 255
Actuator default value
252-254
Reserved.**0-250
Start ramping time (ms)251, 255
Actuator default value
252-254
Reserved.**0-199
Speed to use (0.5%/bit: 0%-99.5%)
200-250
Use 100% speed
251
Actuator default value
252-255
Reserved.**0-250
Maximum current to use
251
Actuator default value
252-255
Reserved.**0-64255
Run to position
64256
Clear ErrorCode register
64257
Command run to actuator out
64258
Command run to actuator in
64259
Command stop actuator*
64260-65535 Reserved.**Table 18. Data field definition* This command is mandatory after power-up and communication time-out (5s).
** In Softvare version 3.0: bit 255 in byte 4 and 5 were reserved.
*** Do not run, regardless of other bytes in request.
Page 27 of 40

Slot
Not applicable
50 ms/bit

50 ms/bit(0% - 100%)

Slot 410: SAEec09(0.25 A/bit: 0.0A - 62.5A)

Slot 283: SAEmd01(0.1 mm/bit: 0mm - 6.43m)

Communication
Proprietary B
Function:
Description

General status
Read status parameters, motor current and actuator piston position.

Min. transmission rate
PGN

100ms
0x00FF00, 65280d

Data field
Byte7
Byte6
Byte5
(Sent last)
Speed
External[mm*0,1/s] Speed LSB
InputState
MSB

Byte4

Byte3

ErrorCode:
8-bit error
code

StatusFlags: Current
Bit-field[mA *250]

Table 19. Bytes (8) containing all status information.

Page 28 of 40

Byte2

Byte1

Byte0
(Sent first)

Position[mm*0.1]
MSB

Position LSBCommunication
Byte(s)
Byte7
Byte6
[4-7]
Byte5Byte6
[0-3]

Byte4

Byte3

Byte2

Byte0Byte1

Name

Details

Slot

InputStateb0,1 = Input 1 level (25% of VCC / bit)
b2,3 = Input 2 levelb4,5 = Input 3 levelNot
definedReserved

Always reads 0xF_

Not
applicable

Speed

Speed feedback0-4015 Speed of actuator piston (0.1mm/s / bit)
4016-4095 Reserved

Not
defined8-bit error code indicating the currently active error of highest priority
0 = No error
1 = Hall error
2 = Over voltage
3 = Under voltage
ErrorCode 4 = Failed to maintain CAN keep alive signal
5 = ESS error
6 = Power on block state
7 = Temperature error
8 = Heart beat error (internal)
9 = SMPS error (inernal)
8 independent status bit-indicators
b0 = ESS in
b1 = ESS out
b2 = Overcurrent
StatusFlags b3 = Running out
b4 = Running in
b5 = Reserved
b6 = Reserved
b7 = Reserved

Not
definedNot
definedCurrent

Measured motor current0
Not running
1-250
Measured motor current
251-253 Reserved
254
Fault in current measurement circuit
255
Reserved

Slot 410:
AEec09(0.25 A/
bit: 0.25A- 62.5A)

Position

Position feedback
0-64255
Position of actuator piston
64256-65023 Reserved
65024
Position lost
65025-65535 Reserved

Slot 14:
SAEds04(0.1 mm/bit: 0mm- 6.43m)

Table 20. Data field definition
Page 29 of 40

Application Layer – Diagnostics
The following Diagnostics Messages are used in the retrieval of diagnostics data according to
SAEJ1939-73 section 5.7.14.1.2.
DM14 Memory access request
DM15 Memory access response
DM16 Binary data transfer
Pointer type: 1 = Directed spatial addressing (parameter IDX)
Pointer extension: 0 = SPM space
Return codes
The status return code for any diagnostics function indicating an error or warning.
0x01 = OK
0x80 = Invalid parameter index
0x81 = Invalid action code
0x82 = Write access denied
0x83 = Value underflow
0x84 = Value overflow
0x85 = Invalid enumerator value
Table 21. Status return codes

Page 30 of 40

Diagnostics overview
Pointer/IDX

Data size

Description

Slot Id

Slot name

AccessExampleMeaningdec

hex

5160960x07E000

U8

Current limit out[mA*250]

Setup values
410

SAEec09

R

60

15 A

5160970x07E001

U8

Current limit in [mA*250]

410

SAEec09

R

24

6A

5160980x07E002

U16

Soft start time out [ms]132

SAEtm02

R

1500

1.5 s

5160990x07E003

U16

Soft start time in [ms]132

SAEtm02R

500

500 ms5161000x07E004

U16

Soft stop time out [ms]132

SAEtm02

R

2000

2s

516101

0x07E005

U16

Soft stop time in [ms]132

SAEtm02R

300

300 ms5161020x07E006

U8

Maximum speed [%*0.5]299

SAEpc18

R

180

90 %

5161030x07E007

U16

Virtual ESS out position[mm * 0.1]

14

SAEds04R

2000

200 mm5161040x07E008

U16

Virtual ESS in position[mm * 0.1]

14

SAEds04

R

50

5 mm

5161050x07E009

U8

Actuator address

35

SAEsa01

R

123

123

Description

Slot Id

Slot name

AccessExampleMeaning

Table 22.
Pointer/IDX

Data size

dec

hex

Identification

5161070x07E00B

U32

UIN

283

SAEmd01

R

12345678

Serialnumber5161080x07E00C

U32

Software identification(SW variant)*

283

SAEmd01

R

SW1234567V1-

SW
variant
1234567
version 1

5161090x07E00D

U32

Software identification(SW version Major)*283

SAEmd01

R

5161100x07E00E

U32

Software identification(SW version Minor)*

283

SAEmd01

R

516111

0x07E00F

U32

Production ordernumber*283

SAEmd01

R

5161120x07E010

U32

Production date283

SAEmd01

R

20150728

July 28th
2015

Table 23.

* (SW variant/build number) [ASCII, text (variable, NULL delimited)

Page 31 of 40

Pointer/IDX

Data size

Slot Id

Slot name

AccessExampleMeaning

Maximum current seen[mA*250]410

SAEec09R

61

15,25 A

U8

Maximum FET temperature seen [°C - 40]

67

SAEtp01

R

138

98° C

0x07E013

U8

Maximum ambient temperature seen [°C - 40]

67

SAEtp01

R

82

42° C

0x07E014

U8

Minimum ambient temperature seen [°C - 40]

67

SAEtp01

R

36

-4° C

5161170x07E015

U32

Current usage [As]283

SAEmd01

R

21605

Total
power
consumed:
6Ah

5161180x07E016

U32

Run-time [s]64

SAEtm05

R

4321

Total
runningtime:
1h12m1s2Overtemperature

dec

hex

5161130x07E011

U8

5161140x07E012

516115516116

Description
Historic values

Table 24.
Usage totals

Table 25.
Reason for last stop, stop
counters and communication error counter
5161190x07E017

U16

Reason for last stop

64

SAEtm05

R

5161200x07E018

U18

Over voltage stops

133

SAEct03

R

516121

0x07E019

U8

FET over temperature
stops

133

SAEct03

R

5161220x07E01A

U8

Ambient over temperature stops

133

SAEct03

R

5161230x07E01B

U8

Low voltage stops

133

SAEct03

R

5161240x07E01C

U8

Hall error stops

133

SAEct03

R

5161250x07E01DU8

ESS switch error stops

133

SAEct03

R

5161260x07E01E

U8

LINAK current overloads
out stops

133

SAEct03

R

5161270x07E01F

U8

LINAK current overload
in stops

133

SAEct03

R

5161280x07E020

U8

Custom current overloads
out stops

133

SAEct03

R

5161290x07E021

U8

Custom current overload
in stops

133

SAEct03

R

5161300x07E022

SAEct05

R

Communication errors

208

Table 26.
Page 32 of 40

Pointer/IDX

Data size

Slot Id

Slot name

AccessNumber of ESS in

208

SAEec05

R

Number of ESS out

208

SAEtp05

R

U32

Number of starts in

209

SAEec07

R

U32

Number of starts out

209

SAEec07

R

dec

hex

516131

0x07E023

U16

5161320x07E024

U16

5161330x07E025

5161340x07E026

Description

ExampleMeaning

Historic values

Table 27.

Diagnostic Troubleshoot Codes (DTC)
SPN

Name

FMI

0x7e400

Actuator

FMI3 = Voltage above normal or shorted to high0x7e401

Actuator

FMI4 = Voltage below normal or shorted

0x7e402

Actuator

FMI6 = Current above normal or shorted to high0x7e403

FET Temp

FMI15 = Data valid, but above normal operating range(least significant level)

0x7e404

AMB Temp

FMI15 = Data valid, but above normal operating range(least significant level)

Table 28.

Page 33 of 40

Diagnostics examples
The following example is made in accordance with SAEJ1939-73 Section 5.7.14.

Figure 9: Example 1 - Read “Reason for last stop”
Page 34 of 40

Network Management
Diagnostics

Processes and messages are associated according to SAEJ1939-81 Section 4.2.1.1.

Figure 11. Adresses for the Network Managment parameters•

The serial number contained in the Identity number is a unique ID assigned to each actuator.

•

ECU instance can be utilised if two or more ECU’s are present on the network.

•

Function instance is suitable when two or more actuators are present on the same network where theactuators only differ on e.g. Left and Right.

Parameter
Name

Size in Bits Start Byte

Start Bit

Details

Identity Number

21

1

1

Lower 21 bits of UIN (Unique Serial Number)

Manufacturer
Code

11

3

6

690 (LINAK® A/S)ECU Instance

3

5

1

Default 0

Function Instance

5

5

4

Determined by address strapping, Section
2.1.14.3 (2.3.3)

Function

8

6

1

Default 132 (Utility Machine Control)

Reserved

1

7

1

Always 0

Vehicle System

7

7

2

Default 24 (Utility Vehicles)

Vehicle System
Instance

4

8

1

Configurable from 0-15

Industry Group

3

8

5

Default 2 (Agriculture and Forestry Equipment)

Arbitrary Address
Capable1

8

8

Always 1: Capable of selecting source address

Table 29. Explanations for the Network Managment parameters

Page 35 of 40

Usecases
Example 1:
0 to 100mm Run to Position on a 200mm Actuator.
Example: 0 to 100mm Run to Position
On a 200mm Actuator
ECU

Resend all messages asnormal. . . . .

Command Message
Actuator Command is sent
as Run to Position as longas Actuator Status Flag is
Running Out

Actuator. . . . .
Page 36 of 40

Status Message Position
updates position as
Actuator moves

Example 2:
150 to 250mm Run to Position On a 200mm Actuator
Example: 150 to 250mm Run to Position
On a 200mm Actuator
ECU

Resend all messages asnormal. . . . .

Command Message
Actuator Command is sent
as Run to Position as longas Actuator Status Flag is
Running Out

Actuator. . . . .
Page 37 of 40

Status Message Position
updates position as
Actuator moves until EOS
is reachedExample 3:
0 to 100mm Run to Position on a 200mm actuator which reaches an Over Current Limit
Example: 0 to 100mm Run to Position
On a 200mm Actuator
Which reaches an Over Current Limit

ECU

Continue to send Status
Messages as normal
unless Current Limit
Reashes. . . . .

Continue to send
Command and Config
Messages as normal

Actuator

Current Out limit reached

Run in opposite direction
to clear Over current
status flag

Page 38 of 40

Example 4:
150 to 50mm Run to Position on a 200mm Actuator error caused by under voltage
Example: 150 to 50mm Run to Position
On a 200mm Actuator
Error caused by under voltage
ECU

Continue to send Status
Messages as normal
unless error(s) occur. . . . .

Continue to send
Command and Config
Messages as normal

Actuator

Under voltage error due toinsufficient power supply

Error Encountered. . . . .

Errors are resolved

Page 39 of 40

Report relevant Error tooperator

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