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The CAN message
id
do
d1
rtr
d7
......
Id : the CAN identifiant of the message. Usually on 11 bits.
rtr : 0 : normal message
1 : Remote Transmit Request message. Cannot contain data
dn : data byte. A normal message can contain 0 to 8 bytes of data
The CAN message in CANOpen
cobId
do
d1
rtr
d7
......
Note : In this document,
- All the numbers are in hexadecimal notation.
- If not specified, the CAN messages are « normals » (rtr = 0)
The data are put in CAN frame in lsb first (ie little endian).
Example : the number 0x01020304 should be embeded like this :
cobId
04
03
rtr
02
01
Fct code
4 bits 7 bits
Fct Code (binary) : EMCY : 0001
PDO : 0011, 0100, 0101, 0110, 0111, 1000, 1001, 1010
SDOrx : 1011
SDOtx : 1100
NMT error control : 1110
NMT : 0000
SYNC : 0001
TIME STAMP : 0010