CESA-GW-AS-CO Description
63
8.
CANopen Telegrams
8.1
Representation of a CAN message
Information!
CAN messages are represented in tables as shown below. The classification corre-
sponds to the sbitoftware interfaces of common standard CAN drivers (2 bytes CAN
header, 8 user data bytes).
CAN header
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
Tab. 8-11.
CAN data
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
Tab. 8-12.
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).
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
RTR: Remote Transmission Request bit
DLC 3 … DLC0: Data Length Code, length of the user data
Summary of Contents for CESA-GW-AS-CO
Page 1: ...Description AS i Gateway English Gateway AS i CANopen CESA GW AS CO 749964 1002NH...
Page 2: ......
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