AS-i/CANopen Gateway
CANopen Telegrams
Subject to reasonable modifications due to technical advances
Copyright Bihl+Wiedemann, Printed in Germany
Bihl+Wiedemann GmbH · D-68199 Mannheim · Phone +49-621-339960 · Fax +49-621-3392239 · Internet http://www.bihl-wiedemann.de
is
sue da
te
27
.1
.2
0
0
3
51
9
CANopen Telegrams
9.1
Representation of a CAN Message
CAN header
CAN data
ID 10 ... ID 0:
CAN identifier
The CAN identifier consists of the object code (ID 10 ... ID 7) and
of the node address (ID 6 ... ID 0).
RTR:
Remote Transmission Request bit
DLC 3... DLC0: Data Length Code, length of the user data
CAN messages are represented in tables as shown below. The clas-
sification corresponds to the sbitoftware interfaces of common stan-
dard CAN drivers (2 bytes CAN header, 8 user data bytes).
byte
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
hex
byte 0 ID 10
ID 9
ID 8
ID 7
ID 6
ID 5
ID 4
ID 3
byte 1
ID 2
ID 1
ID 0
RTR
DLC 3 DLC 2 DLC 1 DLC 0
byte
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
hex
byte 2
data
data
data
data
data
data
data
data
byte 3
data
data
data
data
data
data
data
data
byte 4
data
data
data
data
data
data
data
data
byte 5
data
data
data
data
data
data
data
data
byte 6
data
data
data
data
data
data
data
data
byte 7
data
data
data
data
data
data
data
data
byte 8
data
data
data
data
data
data
data
data
byte 9
data
data
data
data
data
data
data
data
ID 10 ID 9
ID 8
ID 7
ID 6
ID 5
ID 4
ID 3
ID 2
ID 1
ID 0
objektcode
node address
Summary of Contents for AS-i 2.1
Page 1: ...AS i 2 1 AS i CANopen Gateway User Manual...
Page 2: ......
