User Manual
EtherNet to CAN Gateway
GT200-MT-CA
WWW.SSTCOMM.COM
27
GT200-MT-CA applies two CAN frame format, as follows:
CAN frame without time stamp: a CAN frame occupies13 bytes, the format is as follows:
CAN frame with a time stamp: a CAN frame occupies 17 bytes, the format is as follows:
Time stamp: the time that GT200-MT-CA received CAN frame from the CAN port.
(Explanation: Only if the time stamp function is enabled in SST-EC-CFG will GT200-MT-CA adds the
receiving time of CAN frame to CAN frame header automatically. At this point, the CAN frame that GT200-MT-
CA forwarding to Ethernet is 17 bytes long frame with time stamp. Additionally, GT200-MT-CA applies 13 bytes
long CAN frame without times tamp)
Control byte
: occupies one byte including the extended frame signs, remote frame flag and the frame data length;
EXT
: Extended frame flag, 0 indicates the standard frame, 1 indicates the extension frame;
RTRTAG
: Remote frame flag, 0 indicates that the data frame, 1 indicates the Remote frame;
Frame data length
: the range is 0~8.
Standard frame ID:
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Byte1
0
0
0
0
0
0
0
0
Byte2
0
0
0
0
0
0
0
0
Byte3
0
0
0
0
0
ID10
ID9
ID8
Byte4
ID7
ID6
ID5
ID4
ID3
ID2
ID1
ID0
Extended frame ID:
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Byte1
0
0
0
ID28
ID27
ID26
ID25
ID24
Byte2
ID23
ID22
ID21
ID20
ID19
ID18
ID17
ID16
Byte3
ID15
ID14
ID13
ID12
ID11
ID10
ID9
ID8
Byte4
ID7
ID6
ID5
ID4
ID3
ID2
ID1
ID0
Frame data: occupy 8 bytes, the effective length of the frame is controlled by low four bits, supplement with 0
Control byte
Frame ID
Frame data
EXT
RTRTAG
0
0
Frame
data
length
Byte1
Byte2
Byte3 Byte4
bit7
bit6
bit5
bit4
bit3~bit0
timestamp
Control byte
Frame ID
Frame data
Byte1
EXT
RTRTAG
Length
0
0
Byte1
Byte2
Byte3
Byte4
Byte3
Byte4
Byte2
bit7
bit6
bit5
bit4
bit3~bit0