ICP DAS USA ECAN-200-FD, User Manual

Page: 45 / 65

ECAN-200-FD (Ethernet to 2-port CAN FD Converter) User Manual Version 1.0.0 Page
：
45
Copyright © 2022 ICP DAS Co., Ltd. All Rights Reserved E-mail: service@icpdas.com
6.2. Command Data Field
The command data field contains several data (maximum 18 data) which each data size is fixed
to 80 bytes. The content of the data is listed in following table.
Command Data Field (Max. 18 Data)
Data-1 Data-2 … Data-N
80 Bytes 80 Bytes … 80 Bytes
Data-N
Parameters Size (Byte) Description
CAN
Message ID
4 CAN ID of Standard or Extended CAN/CAN FD Frame.
Standard Frame: use 11 bits CAN ID
Extended Frame: use 29 bits CAN ID
CAN
Message
Format
2 Message Format.
[bit15:6] : Reserved
[bit5] : ESI
[1]
, 0 – Active Error, 1 – Passive Error
[bit4] : EVE
[2]
, 0 – Normal message, 1 – Error message
[bit3] : BRS
[3]
, 0 – bit rate not switch, 1 – bit rate switch
[bit2] : XTD, 0 – Standard frame, 1 – Extended frame
[bit1] : RTR
[4]
, 0 – Data frame, 1 – Remote frame
[bit0] : FDF, 0 – CAN frame, 1 – CAN FD frame
CAN Data
Length Code
2 Data Length Code
[6]
of the CAN/CAN FD frame length
CAN Frame:
0 ~ 8

0 ~ 8 data bytes
CAN FD Frame:
0 ~ 8

0 ~ 8 data bytes,
0x9 ~ 0xF

12, 16, 20, 24, 32, 48, 64 data bytes
CAN Data 64
[5]
Content of CAN Data.
CAN Frame

maximum use 8 bytes data, no used for others
CAN FD Frame

maximum use 64 bytes data
Timestamp
(sec)
4 Timestamp of received CAN message (unit: second).
Reserved and no used for transmitted CAN message